TY - GEN
T1 - Attitude stability of a cable driven balloon robot
AU - Takemura, Fumiaki
AU - Maeda, Kiyoshi
AU - Tadokoro, Satoshi
PY - 2006
Y1 - 2006
N2 - At the time of a large-scale urban earthquake disaster, human search activities and information collection are the most important processes of rescue operations. Robots for search and rescue (e.g., aero-robots, crawler type robots) have been studied extensively recently. We have developed a cable driven balloon robot for information acquisition from the sky during disaster rescue and recovery operations. The balloon, from which hang several sensors (sensor unit, SU), uses "a natural shape balloon". Three cables connect the SU, and the balloon, with its sensors, is driven by expansion and contraction of the cable length. Cameras and several sensors or wireless relays are loaded onto the SU. The attitude stability of the SU is required to eliminate camera shaking resulting from wind. Such stability is necessary for high-precision information collection because this robot is used in the open air. This study verifies the attitude stability of an SU using a cable arrangement between the balloon and the SU; it statically calculates the movable scope of the SU at an arbitrary wind speed and direction.
AB - At the time of a large-scale urban earthquake disaster, human search activities and information collection are the most important processes of rescue operations. Robots for search and rescue (e.g., aero-robots, crawler type robots) have been studied extensively recently. We have developed a cable driven balloon robot for information acquisition from the sky during disaster rescue and recovery operations. The balloon, from which hang several sensors (sensor unit, SU), uses "a natural shape balloon". Three cables connect the SU, and the balloon, with its sensors, is driven by expansion and contraction of the cable length. Cameras and several sensors or wireless relays are loaded onto the SU. The attitude stability of the SU is required to eliminate camera shaking resulting from wind. Such stability is necessary for high-precision information collection because this robot is used in the open air. This study verifies the attitude stability of an SU using a cable arrangement between the balloon and the SU; it statically calculates the movable scope of the SU at an arbitrary wind speed and direction.
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U2 - 10.1109/IROS.2006.281633
DO - 10.1109/IROS.2006.281633
M3 - Conference contribution
AN - SCOPUS:34250655228
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3504
EP - 3509
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -
