SPECIAL PROJECT FOR EARTHQUAKE DISASTER MITIGATION IN URBAN AREAS Development of Advanced Robots and Information Systems for Disaster Response Abstract of Theme
Theme Leader (Affiliation,／Name)
	Tokyo Institute of Technology／Hideyuki Tsukagoshi
Theme
	Jumping & Rotating Inspector to Improve Drastically the Traverse Ability on Debris
Research Outline
	Jumping & Rotating Inspector, which we are developing, is aimed to get over so much big obstacles as possible with small size, and then to search the victims or cheer up them. After investigating the mobile methods, we came up with the effective one, in which the robot will carry out the rotary motion efficiently on the flat land, jump over the big obstacles, and can land on from any jumping posture, as shown in Fig.1. So as to realize this behavior, the robot forms the structure with a pneumatic-powered jumping leg inside the rotor as its basic style, shown in Fig.2. At present, the developed proto-type model can jump over 1m height obstacles after running up on the flat area. Its dynamic motion can be shown in the following homepage. http://www.ctrl.titech.ac.jp/ctrl-labs/kitagawa-lab/
Figure
Fig.1 Effective mobile method of the small robots on debris. Fig.3 Performance of the 2nd model (Leg-in-rotor-II), which is jumping over the debris after running on the flat area. Fig.2 Structure and allocation of actuators of Jumping Inspector.
H.Tsukagoshi htsuka@ctrl.titech.ac.jp