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Development of Power Assist Shovel Driven by Hydraalic Power for Rescue Openiti at Disasterous Site.

Research Project

Project/Area Number 11450101
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionTokyo Institute of Technology

Principal Investigator

KITAGAWA Ato  Tokyo Institute of Tech, Professor, 大学院・理工学研究科, 教授 (30153092)

Co-Investigator(Kenkyū-buntansha) TSUKAGOSHI Hideyuki  Tokyo Institute of Tech, Research Associete, 大学院・理工学研究科, 助手 (50313333)
Project Period (FY) 1999 – 2002
Project Status Completed (Fiscal Year 2002)
Budget Amount *help
¥5,900,000 (Direct Cost: ¥5,900,000)
Fiscal Year 2002: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 2001: ¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 2000: ¥2,900,000 (Direct Cost: ¥2,900,000)
Keywordsrescue robot / mastor-slave control / pneumatic actuator / マスター・スレーブ / 油圧アクチュエータ / レスキューロボット / 空圧アクチュエータ / パワーアシスト / マスタースレーブ / 油圧パワーショベル / レスキュー / アクチュエータ / 災害救助
Research Abstract

This study is aimed to develop the function of rescuing the victims under the collapsed buildings, which is added to the hydraulic power shovel for construction. The research theme is divided into two aspects, which are the construction of master-slave controller to dig the debris distinguishing from the victims and the development of "Active Hose" to dive into the debris and supply the fresh water for the life extension.
As for the master-slave controller, we proposed "Parallel Impedance Controller" which can realize the actual contact feeling, controller considering the communication time delay, controller adaptable to the impedance change caused by the characteristics of the dug objects, whose validity was experimentally confirmed. And they can lead to the technology of detecting the victims.
Active Hose was developed as the artificial elephant's trunk to be added to the shovel. We could succeed in reducing the size to 45mm diameter, which helps to dive into the small space as the debris. The propelling units to push the hose into debris were also developed, and we could experimentally confirm that these hose was useful to supply the fresh water to the victims. In the near future, the dustproof countermeasure will be also done.

Report

(5 results)
  • 2002 Annual Research Report   Final Research Report Summary
  • 2001 Annual Research Report
  • 2000 Annual Research Report
  • 1999 Annual Research Report
  • Research Products

    (16 results)

All Other

All Publications (16 results)

  • [Publications] A.Kitagawa, H.Tsukagoshi et al.: "Driving Metal of Active Hose : an Artificial Elephant's Trunk"Journal of Robotics and Mechatronics. Vol.13 No.2. 198-204 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 留, 北川: "油圧マスタ・スレーブの2層構造を持つパラレルインピーダンス制御"日本フルードパワーシステム学会論文集. 33-3. 69-75 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 留, 北川: "環境反力を利用したマスタ・スレーブのパラレルインピーダンス制御"日本機械学会論文集. 68-665. 125-131 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] A. Kitagawa, H.Tsukagoshi, Etc.: "Driving Method of Active Hose : an Artificial Elephant's Trunk"Journal of Robotics and Mechatronics. 13, No.2. 198-204 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Ryu Kitagawa: "Impedance Control with Two Layers for Hydraulic Master-slave"Journal of Japan Fluid Power System. 33, No.3. 69-75 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] Ryu Kitagawa: "Parallel Impedance Control for Master-slave by Using Environment Reaction Force"Journal of Japan Mechanics Society. 68, No.665. 125-131 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2002 Final Research Report Summary
  • [Publications] 留 滄海, 北川 能: "油圧マスタースレーブの2層構造を持つパラレルインピーダンス制御"日本フルードパワーシステム学会論文集. 33・3. 69-75 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] 留 滄海, 北川 能: "環境反力を利用したマスタ・トレーブのパラレルインピーダンス制御"日本機械学会論文集(C編). 68・665. 125-131 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] Hideyuki Tsukagoshi, Ato Kitagawa, etc.: "Mobile Method of Active Hose Passing through Narrow Space"IROS 2002. 841-846 (2002)

    • Related Report
      2002 Annual Research Report
  • [Publications] A.kitagawa, H.Tsukagoshi, M.Sagawa, T.Takeda: ""Active Hose": an Artificial Elepant's Trunk for Rescue Operations"Journal of Robotics and Mechatronics. 13・2. 198-204 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 留,北川: "油圧マスタ・スレーブのインピーダンス制御"平成12年春季フルイドパワーシステム講演会論文集. 25-27 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] Kitagawa,Tsukagoshi,Segawa,Takeda: "Driving Method of Active Hose : an Artificial Elephant's Nose for Rescue Operation"Journal of Robotics and Mechatronics. 5号(掲載予定). (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] 北川,塚越,瀬川,武田: "人命救助活動に用いる連結式多自由度能動ホースの駆動特性"第18回日本ロボット学会学術講演会. 185-186 (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] Kitagawa,Tsukagoshi,Segawa: "Proposal of A Connective Type Active Hose with Many Degrees of Freedom for the Rescue Operation"FLUCOME 2000. 103 (2000)

    • Related Report
      2000 Annual Research Report
  • [Publications] 北川、留、下田、永野: "油圧マスター・スレーブのインピーダンス制御"第17回.流体計測・制御合同シンポジウム講演論文集. 25-29 (1999)

    • Related Report
      1999 Annual Research Report
  • [Publications] 北川、塚越、瀬川、武田: "連結式多自由度能動ホースのための駆動機構の提案"第17回.流体計測・制御合同シンポジウム講演論文集. 115-119 (1999)

    • Related Report
      1999 Annual Research Report

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Published: 2000-04-01   Modified: 2016-04-21  

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