Design and running performance evaluation of inchworm drive with frictional anisotropy for Active Scope Camera

Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo, Satoshi Tadokoro

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper reports upon the design and evaluation of an inchworm drive based on frictional anisotropy for an Active Scope Camera (ASC), which is a snake-like rescue robot used in disaster-affected areas. The conventional ASC is mounted on a ciliary vibration drive and can search under rubble. It has been found, however, that there are some situations in which the vibration drive performs weakly, such as on soft or rough road surfaces. In this paper, the authors propose an inchworm drive with an ASC. The inchworm drive developed in this research shows a running performance that resolves some of the weak points of the vibration drive. The authors focus in particular on the evaluation of driving experiments that were conducted on a variety of surfaces that might be encountered while searching inside a collapsed building or under rubble.

Original languageEnglish
Pages (from-to)517-530
Number of pages14
JournalJournal of Robotics and Mechatronics
Volume24
Issue number3
DOIs
Publication statusPublished - 2012 Jun

Keywords

  • Anisotropic friction by cilia
  • Comparison with ciliary vibration drive
  • Inchworm drive
  • Snake-like rescue robots

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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