Running performance evaluation of inchworm drive and vibration drive for active scope camera

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper evaluates performance of an inchworm drive with frictional anisotropy and a ciliary vibration drive for an active scope camera, which is a snake-like rescue robot used at disaster sites. The previous type of the active scope camera is equipped with a ciliary vibration drive and can travel in rubble. However, it has been found that the vibration drive is not effective on soft or uneven roads. Therefore, the authors propose using not only a vibration drive but also an inchworm drive. The inchworm drive developed in this paper shows a running performance that is different from that of a vibration drive. Hence, complementary running performance is expected using this combination of drive mechanisms. In particular, the authors focus on carrying out running experiments on surfaces that exist at disaster sites.

Original languageEnglish
Title of host publication2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
Pages599-604
Number of pages6
DOIs
Publication statusPublished - 2011 Oct 17
Event2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 - Budapest, Hungary
Duration: 2011 Jul 32011 Jul 7

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
CountryHungary
CityBudapest
Period11/7/311/7/7

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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