Attitude Stability of a Cable Driven Balloon Robot

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-01 DOI:10.1109/IROS.2006.281633

F. Takemura, Kiyoshi Maeda, S. Tadokoro

{"title":"Attitude Stability of a Cable Driven Balloon Robot","authors":"F. Takemura, Kiyoshi Maeda, S. Tadokoro","doi":"10.1109/IROS.2006.281633","DOIUrl":null,"url":null,"abstract":"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","PeriodicalId":237562,"journal":{"name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2006.281633","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 14

Abstract

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

查看原文本刊更多论文

缆索驱动气球机器人的姿态稳定性

在发生大规模城市地震灾害时，人员搜索活动和信息收集是救援行动中最重要的过程。近年来，搜救机器人(如航空机器人、履带式机器人)得到了广泛的研究。我们开发了一种电缆驱动的气球机器人，用于在灾难救援和恢复行动中从天空获取信息。气球上挂着几个传感器(传感器单元，SU)，采用了“自然形状的气球”。三根电缆连接SU，气球及其传感器通过电缆长度的伸缩来驱动。相机和多个传感器或无线继电器装载在SU上。SU的姿态稳定性要求消除由风引起的相机抖动。这种稳定性对于高精度的信息收集是必要的，因为这种机器人是在露天使用的。本研究利用球囊和苏之间的缆索布置验证了苏的姿态稳定性;它静态地计算SU在任意风速和风向下的可移动范围

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

自引率

0.00%

发文量