Development of a search type rescue robot driven by pneumatic actuator

Recently, the large earthquake including Hanshin-Awaji (Kobe) Earthquake has occurred. A lot of lives have been lost due to these earthquakes. In order to find and save victims even one, many researches and developments of the rescue robot have been done. In such studies, most of the rescue robot used the electric actuator for travelling. In those cases, there is a possibility of getting an electric shock because of electricity. Comparing with electric actuators, the pneumatic and flexible actuators and devices can make the robot stronger against the electric shock and physical shock. In this study, we aim to develop the search type rescue robot with flexible structure. We propose two types of robot. First, we propose and test a lightweight and compact search type rescue robot using the flexible pneumatic cylinder and crawler unit. Second, we propose and test the rescue robot using a pneumatic motor and the long stroke type artificial rubber muscles. This paper describes the structure, the principle of operation and the performance of the tested robots.