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Active Scope Camera (ASC) using a linear inchworm drive, which can run on various road surfaces assumed in disaster sites, have been developed as a snake-like rescue robot. However, it is difficult for the linear inchworm drive to run in crooked narrow pathways, because its rigid body actuator reduces the flexibility of the scope camera and becomes immovable when the scope camera is curved. There...
This paper evaluates performance of an inchworm drive with frictional anisotropy and a ciliary vibration drive for an active scope camera, which is a snake-like rescue robot used at disaster sites. The previous type of the active scope camera is equipped with a ciliary vibration drive and can travel in rubble. However, it has been found that the vibration drive is not effective on soft or uneven roads...
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