Higher Jumping Rescue Robot : Leg-in-rotor-V

Tsukagoshi Hideyuki,Sasaki Masashi,Tanaka Takahiro


background of this research

There is a requirement for robots that can efficiently find victims trapped under collapsed buildings. One of the design requirements common to these robots is to keep their size and weight to a necessary minimum, enabling them to move in narrow spaces where victims may be hidden, and making the robots easy to transport to the site. As one of the solutions, we proposed a mobile method of jumping over large obstacles combined with efficient rolling on the flat, shown in Fig.1. Jumping uses compressed air, while rolling uses electric power. The developed mechanical model, Leg-in-rotor-V shown in Fig.2 and 3, smaller than a 300 mm on a side cube and lighter than 2 kg could repeatedly jump over debris higher than 1m, as shown in the following video.
BBW hydraulic system
Fig.1 Image of the jumping & rolling inspector to search for victims under debris.
BBW hydraulic system
Fig.2 Performance of Leg-in-Rotor-V, which can roll and jump on debris and can jump again after recovering its posture.
BBW hydraulic system
Fig.3 Overview of the developed mechanical model.

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jumping over debris(1.68 MB)
Recovery from (1.18 MB)
jump on stairs(1.13 MB)
70cm jumping(2.64 MB)
TV demonstration(35.6 MB)

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