Aerial Hose Type Robot by Water Jet for Fire Fighting

Hisato Ando, Yuichi Ambe, Akihiro Ishii, Masashi Konyo, Kenjiro Tadakuma, Shigenao Maruyama, Satoshi Tadokoro

Research output: Contribution to journalArticlepeer-review

65 Citations (Scopus)


Disaster response, especially fire-fighting and rescue, is highly risky for firefighters engaged in action. As a result, many robots intended for fire-fighting have been proposed. However, it is difficult for them to directly access fire sources because their mobility is limited. Specifically, existing robots are large and heavy. Therefore, we propose a novel hose-type robot, which can fly directly into the fire source via a water jet. First, to control the reaction force for stable flying, we developed a nozzle module. By combining two nozzles whose outlet direction can be controlled, the resultant reaction force can be controlled. Finally, we developed a robot with a nozzle module and conducted an experiment. The experiment demonstrates that a robot with a length of approximately 2 m can fly stably in the air by leveraging the water jet. In addition, the head direction can also be controlled.

Original languageEnglish
Article number8255553
Pages (from-to)1128-1135
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number2
Publication statusPublished - 2018 Apr


  • Aerial systems
  • applications
  • field robots
  • hydraulic/pneumatic actuators
  • search and rescue robots
  • soft material robotics


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