Mobile method of active hose passing through the narrow space

摘要

This paper proposes both the design concept and the driving mechanism of a flexible robot with multiple degrees of freedom to dive into debris. Up to now, several kinds of pneumatic robots with flexibility have been developed, however they have been unable to perform multiple degrees of freedom with high bending moment. A new type of robot, called "Active Hose", is proposed here, which has multiple degrees of freedom by connecting units of two degrees of freedom in series and has a high bending moment by introducing a spine structure and using deformation of the spiral tubes. "Active Hose" can be expected to be applied to rescue operations such as searching for victims under debris just after an earthquake, supplying fresh air and drinking water for victims, and carrying air jacks so as to make room for victims to escape.