Novel extendable arm structure using convex tapes for improving strength of pipe on tiny mobile robots

K. Tanaka, H. Yokoyama, Hiroyuki Ishii, S. Inoue, Q. Shi, S. Okabayashi, Y. Sugahara, Atsuo Takanishi

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

    1 Citation (Scopus)

    Abstract

    The demand for monitoring from high points is increasing to support remote control and accurate monitoring. Unmanned ground vehicles with long arms are used to achieve long-term and accurate monitoring. The use of convex steel tapes is effective for achieving both high strength and lightness of the arm, which prevents the robot from collapsing or the arm from falling off. However, the previously proposed methods could not be used under tough environmental conditions such as strong winds as well as when the posture of the robot is changed. The objective of the present study is to design a novel extendable arm structure using convex tapes for outdoor usage. We designed an arm with a novel combination of convex tapes that can endure outdoor interferences. We manufactured the arm using a new method such that there is no need to separate the convex tapes. Our results indicated that the robot could extend its arm up to 4 m at a wind speed of 10 m/s and its posture can be changed to 15° in all directions without the use of additional supports such as an outrigger. This novel arm is useful for supporting remote-controlled aerial work platform outdoors such as in a disaster struck area where only tiny mobile robots can enter. This novel combination method is significant not only because it fills the gap in previous sutures but also because it does not require complex mechanisms such as the outrigger method.

    Original languageEnglish
    Title of host publication2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages637-642
    Number of pages6
    ISBN (Electronic)9781509043644
    DOIs
    Publication statusPublished - 2017 Feb 27
    Event2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China
    Duration: 2016 Dec 32016 Dec 7

    Other

    Other2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
    CountryChina
    CityQingdao
    Period16/12/316/12/7

    Fingerprint

    Mobile robots
    Tapes
    Pipe
    Robots
    Monitoring
    Unmanned vehicles
    Ground vehicles
    Remote control
    Disasters
    Antennas
    Steel

    ASJC Scopus subject areas

    • Hardware and Architecture
    • Artificial Intelligence
    • Control and Systems Engineering

    Cite this

    Tanaka, K., Yokoyama, H., Ishii, H., Inoue, S., Shi, Q., Okabayashi, S., ... Takanishi, A. (2017). Novel extendable arm structure using convex tapes for improving strength of pipe on tiny mobile robots. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 637-642). [7866394] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866394

    Novel extendable arm structure using convex tapes for improving strength of pipe on tiny mobile robots. / Tanaka, K.; Yokoyama, H.; Ishii, Hiroyuki; Inoue, S.; Shi, Q.; Okabayashi, S.; Sugahara, Y.; Takanishi, Atsuo.

    2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 637-642 7866394.

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

    Tanaka, K, Yokoyama, H, Ishii, H, Inoue, S, Shi, Q, Okabayashi, S, Sugahara, Y & Takanishi, A 2017, Novel extendable arm structure using convex tapes for improving strength of pipe on tiny mobile robots. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866394, Institute of Electrical and Electronics Engineers Inc., pp. 637-642, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 16/12/3. https://doi.org/10.1109/ROBIO.2016.7866394
    Tanaka K, Yokoyama H, Ishii H, Inoue S, Shi Q, Okabayashi S et al. Novel extendable arm structure using convex tapes for improving strength of pipe on tiny mobile robots. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 637-642. 7866394 https://doi.org/10.1109/ROBIO.2016.7866394
    Tanaka, K. ; Yokoyama, H. ; Ishii, Hiroyuki ; Inoue, S. ; Shi, Q. ; Okabayashi, S. ; Sugahara, Y. ; Takanishi, Atsuo. / Novel extendable arm structure using convex tapes for improving strength of pipe on tiny mobile robots. 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 637-642
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