Proposes both the design concept and driving mechanism of a flexible robot with multiple degrees freedom to dive into debris. Up now, several kinds pneumatic robots flexibility have been developed, however, they could not perform high bending moment. A new type robot, called Active Hose, is proposed which has by connecting units two in series moment introducing spine structure using deformation spiral tubes. Hose this performance can be expected applied rescue operations such as searching...

This paper presents an aerial robot with a manipulator to implement door opening mission. Although general robots have advantages of flying in the three-dimensional space freely, they don't any capability moving another room when is closed. To overcome this problem, we propose new configuration perching function, knob-twisting and door-pushing function. Perching function can be achieved by integration door-approach control, mechanism for attitude-change control. With regard design concept...

Some stability criteria for walking vehicles on rough terrain are discussed. Several margin have been proposed previously and they can be roughly divided into three categories. The paper compares them with each other concludes that a criterion based energy consideration is the most reasonable practical use through simple experiments. existing apparently inadequate because it varies weight of vehicle same posture, while doesn't affect its resistance to tumble. Therefore, an improved...

Design and control of a new quadruped walking manipulating robot TITAN VII which can be operated on steep slope is discussed. We first consider the optimal design driving system legs consisting prismatic actuators so as to produce large output power with minimum weight based concept coupled drive. Secondly, we discuss criteria for stability introduce type extensible leg maintain high terrain adaptability sleep slope. Thirdly, mention passive adaptive foot mechanism "rocker bogie sole"...

This paper describes the numerical analysis and design for a higher jumping rescue robot using pneumatic cylinder. First, basic equations are derived simulation is performed. Then, relationship between height pressure-receiving area of cylinder considered when volume or stroke kept constant. allows calculation optimal cross sectional area. In addition, also affected by weight ratio rod tube. Based on these results, equipped with appropriate dimensions controlled well-selected valve...

In this article, the design principle of leg driving mechanism to minimize energy loss and maximize output power is discussed. We will also introduce gait control methods implemented in our previous quadruped walking robots. Finally, we survey most prototype models

A universal suction cup that can stick to various objects expands the areas in which robots work. However, size, shape, and surface roughness of conventional cups are limited. To overcome this challenge, we propose a new hybrid structure uses adhesive force sticky gel negative pressure. In addition, flexible thin pneumatic balloon actuator with check valve function is installed interior, enabling controllable detachment from objects. The prototype has an outer diameter 55 mm, weight 18.8 g,...

This paper proposes a flexible hose-like fluid actuator to inspect narrow curved or bumpy terrain. The tip alone moves forward and the rest remains stationary, enabling move smoothly without interfering with outer environment – concept based on plant growth process. consists of multiple flat tubes bent in skin, whose bending point is involved preventing from passing through. can also steer direction which lengthens, while shape unchanged. Our Grow-hose-I prototype 62 mm diameter grows at...

This paper presents a novel flexible tube type in-pipe inspection robot driven by pneumatics. The goal of this is to carry wired camera for and nozzle cleaning moving over distance 50m or more in piping with bore diameter 50 100mm. To satisfy requirement, we propose new configuration consisting grip units two different lines propulsion another line, which are connected series one one. enables the keep constant force regardless traveling distance, since each unit capable promoting between...

This paper presents the design and implementation of a lightweight powerful fingers actuator capable grasping various shaped objects. The proposed is designed on underactuated structure formed by thumb an index finger, which are composed zigzag tube with one chamber soft polyurethane foam notch. When inside pressurized pneumatics, each finger joint can be bent simultaneously performing degree freedom motion. Due to compliance pneumatic softness structure, it automatically hold types...

This letter presents a soft compact valve inducing self-excited vibration to be aimed for simplification of piping, power saving and downsizing the total system pneumatic mobile robots generating traveling waves. The presented device is composed flat tubes, permanent magnets, restraint parts. It capable switching inner pressure among three isolated chambers alternately periodically by using constant air supplied from single line. In this letter, we describe driving principle switch different...

On the assumption that a quadruped robot works on slope, we discuss how to make it prevent tumbling over. The larger difference becomes between potential energy of center gravity initial position and highest after its rotating, less tumbles. So this can be regarded as stability margin, novel gait obtain largest margin is mentioned here. It an intermittent crawl gait. Its contour (consisting equal points inclined plane) helpful in design standard foot trajectories. An optimal posture designed...

This paper proposes a pneumatic gripper that allows gripping of the human body aimed for transfer support, whether is lying down or leaning against back support on chair. To grip safely and comfortably under any conditions, two functions are newly introduced. One them "shape adaptive joints" which enable every force to be equally distributed at each contact point regardless shape. The other "slip in tip" helps reduce both risk injury uncomfortable friction between gripper, realized by new...

This paper proposes a novel flexible fluid actuator with long cylindrical structure, aimed at creeping smoothly even on rugged and narrow terrain. Since only the tip goes forward by drawing out outer skin from its inside, creeps without moving against environment, just like plant's growing process. The is composed of plural flat tubes, placed around slippery cloth in parallel, whose tips are bent to cut off passage. Moreover, it designed be capable steering direction actively curving tip,...

This letter presents a novel tube-type pneumatic helical actuator generating complex 3-dimensional torsional motions. Inspired by the molecular structure of DNA, this is fabricated combining two contraction actuators, introduced in our previous research, parallel and covered sleeve. By controlling air pressure top rotation angle each actuator, double can realize bidirectional screwing, curving, mixture screwing curving space. Qualitative working principles these patterns are analyzed,...

This paper presents a novel approach of driving the human joints by means fluid control system with flexibility just like clothes, which leads to cyborg amplifying motor function. Former actuators for body mounting were not always designed from point clothing comfort. Thus, in first part this paper, comfort index is introduced so as evaluate desirability actuator mounted on body. Then, pneumatic tube structure are systematically proposed increase index. By using actuators, an efficient...

We discuss some suitable stability margin concepts for walking robots which are expected to walk around on irregular terrains. Several ideas have been proposed before, but those can be roughly divided into three kinds.We came the conclusion that a concept based energy considerations is most practical adopt and its validity could recognized through simple experiments. But existing inadequate use because this varies with weight of robot can't affect resistance tumbling caused by slipping from...

This study is concerned with the development of a novel portable pneumatic power source applicable to self-powered mobile applications such as wearable actuator and rescue robot etc. Dry ice chosen for because it nonpoisonous, easy obtain expands 750 times in volume after being vaporized into gas. When dry stored confined pressure container, begins liquefy reaches triple point (0.52 [MPa (abs)], -56.6°C). In this process remains constant until all melt liquid. state at point, does not...

This study is concerned with the development of a novel portable pneumatic power source applicable to mobile applications such as wearable actuator and rescue robot etc. The dry-ice, which solid phase carbon dioxide, chosen for developed because it nonpoisonous, easy obtain, low in price expands 750 times volume after being vaporized into gas. When dry-ice stored confined pressure container, temperature rise by heat transfer begins liquefy reach triple point (0.52 [MPa (abs)] , -56°C). In...

In order to search survivors in half-collapsed buildings at disastrous sites, the authors have developed throw & collect rescue inspector. It is composed of a throwing and drawing mechanisms child machine equipped with camera. The parent robot inserted site starts inspection area. If an obstacle way, it throws out its magnetic brake pneumatic cylinder, can be performed beyond while drawn back. This report shows details structure robot.

In this paper, we propose an epoch-making soft sheet actuator called "Wavy-sheet". Inspired by gastropod's locomotion, Wavy-sheet can generate continuous traveling waves on the whole body. It aims to be applied a mobile mat capable of moving and transporting without damaging object ground. The actuator, driven pneumatics, is mainly composed couple flexible rubber tubes fabrics. advantages are: i) many generated just three tubes, ii) structure adapt its own shape outer environment passively,...

This paper presents a novel valve for switching the pressure modes of to chambers by self-excited vibration instead using electricity. The has simple structure consisting flexible tubes and small permanent magnets, which can be fabricated with compact size, lightweight at low cost. When constant air is applied input port valve, magnet vibrates self-excitedly two are connected output ports alternately pressurized same frequency as vibration. We present principle modeling operation. Several...

This paper describes the numerical analysis and design for a higher jumping rescue robot using pneumatic cylinder. First, basic equations are derived simulation is performed. Then, relationship between height pressure-receiving area of cylinder considered when volume or stroke kept constant. allows calculation optimal cross sectional area. In addition, also affected by weight ratio rod tube. Based on these results, equipped with appropriate dimensions controlled well-selected valve...

A sound operated directional control valve is proposed in order to widen the application of pneumatic drives a multi-degree wearable system. The opens and closes response specific frequency propagated inside gas supply tube therefore needs no electric wiring convey signal. By using multi-frequency sound, several valves can be controlled simultaneously resultantly system constructed compactly. In this paper, firstly, sound-gas pressure converter, which uses resonance vibrating object...