Small Swarm Search Robot System with Rigid-Bone Parachute Rapidly Deployable from Aerial Vehicles

Tori Shimizu, Sosuke Hayashi, Toshiki Midorikawa, Takumi Fujikawa, Eri Takane, Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In this research, the authors aim to construct a system of the small swarm search robot dropped from aerial vehicles to realize the efficient wide area exploration for rapid disaster response. The authors propose a jumping mechanism using an internally balanced magnet unit and a rigid bone parachute mechanism that can prevent entanglement and move effectively on rough terrains such as rubbles or narrow spaces. For this purpose, the platform of the robot requires small dimensions and mass to transport by aerial vehicles and enter confined spaces. However, if the diameter of the wheel is reduced, the height of the step that can be overcome decreases, and the mobility performance on a rough train would also decrease. For that reason, the authors propose a mechanism that can jump over the debris and a parachute mechanism that does not get caught by the debris, the environment, and itself. In this paper, the authors first show the basic concept and requirements of the swarm search robot. Next, the basic design of the mechanical structure and electrical system are shown, and the prototype of the two-wheeled robot is fabricated as a platform. Finally, experiments using the prototypes are conducted to verify the principle of the jumping mechanism and parachute mechanism and to discuss their effectiveness.

本文言語English
ホスト出版物のタイトル2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ88-93
ページ数6
ISBN(電子版)9781728107783
DOI
出版ステータスPublished - 2019 9
イベント2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019 - Wurzburg, Germany
継続期間: 2019 9 22019 9 4

出版物シリーズ

名前2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019

Conference

Conference2019 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2019
国/地域Germany
CityWurzburg
Period19/9/219/9/4

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 制御と最適化
  • 安全研究

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