Title :
Development of Souryu-I connected crawler vehicle for inspection of narrow and winding space
Author :
Takayama, Toshio ; Hirose, Shigeo
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan
Abstract :
A prototype of the connected crawler vehicle for inspection in a narrow and winding space, named Souryu-I, was developed for the purpose of searching someone who is trapped in a collapsed house or building. The requirements of both ease of control and toughness are the basic design criteria of this vehicle. Based on these principles, we determine the actual vehicle mechanical characteristics. The mechanical design and performance of this vehicle are discussed
Keywords :
emergency services; inspection; mobile robots; motion control; position control; 2D active articulation; Souryu I; connected crawler vehicle; gap crossing; mechanical design; mobile robots; motion control; rescue robots; steering; Aerospace engineering; Buildings; Crawlers; Inspection; Leg; Propulsion; Space technology; Space vehicles; Vehicle driving; Wheels;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973140
