Active scope camera for urban search and rescue

A practical active scope camera for urban search and rescue is developed using ciliary vibration drive mechanism. Optimization of design parameters such as material, a diameter, density and an inclination angle of cilia, and specifications and density of vibration motors is performed on the basis of experimental evaluation of test pieces and prototypes with changing surface materials. A prototype of a scope camera 8 m long crawls at a maximum speed of 47 mm/s, climbs slopes of 20 deg, surmounts obstacles 200 mm high, follows walls, and turns on floors. Experiments at Collapsed House Simulation Facility of International Rescue System Institute, Kobe Laboratory demonstrate its practical advantage in rubble piles.