ImPACT-TRC thin serpentine robot platform for urban search and rescue

Masashi Konyo, Yuichi Ambe, Hikaru Nagano, Yu Yamauchi, Satoshi Tadokoro, Yoshiaki Bando, Katsutoshi Itoyama, Hiroshi G. Okuno, Takayuki Okatani, Kanta Shimizu, Eisuke Ito

    Research output: Chapter in Book/Report/Conference proceedingChapter

    1 Citation (Scopus)

    Abstract

    The Active Scope Camera has self-propelled mobility with a ciliary vibration drive mechanism for inspection tasks in narrow spaces but still lacks necessary mobility and sensing capabilities for search and rescue activities. The ImPACT-TRC program aims to improve the mobility of ASC drastically by applying a new air-jet actuation system to float ASC in the air and integrate multiple sensing systems, such as vision, auditory and tactile sensing functions, to enhance the searching ability. This paper reports an overview of the air-floating-type Active Scope Camera integrated with multiple sensory functions as a thin serpentine robot platform.

    Original languageEnglish
    Title of host publicationSpringer Tracts in Advanced Robotics
    PublisherSpringer-Verlag
    Pages25-76
    Number of pages52
    DOIs
    Publication statusPublished - 2019 Jan 1

    Publication series

    NameSpringer Tracts in Advanced Robotics
    Volume128
    ISSN (Print)1610-7438
    ISSN (Electronic)1610-742X

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Artificial Intelligence

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  • Cite this

    Konyo, M., Ambe, Y., Nagano, H., Yamauchi, Y., Tadokoro, S., Bando, Y., Itoyama, K., Okuno, H. G., Okatani, T., Shimizu, K., & Ito, E. (2019). ImPACT-TRC thin serpentine robot platform for urban search and rescue. In Springer Tracts in Advanced Robotics (pp. 25-76). (Springer Tracts in Advanced Robotics; Vol. 128). Springer-Verlag. https://doi.org/10.1007/978-3-030-05321-5_2