S. Yamazaki’s research while affiliated with Chuo University and other places

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Publications (4)


Morphological change in peristaltic crawling motion of a narrow pipe inspection robot inspired by earthworm’s locomotion
  • Article

January 2018

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64 Reads

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55 Citations

M. Kamata

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S. Yamazaki

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Y. Tanise

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[...]

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Infrastructure pipes require inspection in order to prevent accidents. However, it is difficult to inspect a 1-in-diameter gas pipe because it is long, narrow and complicated. Therefore, an earthworm-type robot was developed to inspect this 1-in pipe. The robot moved by peristaltic crawling with pneumatic artificial muscles and displayed its suitability as a 1-in pipe inspection robot in experiments. However, its speed was extremely slow to be practically utilized. A major cause for this is the small distance covered in a single motion of the robot. Therefore, in this study, we developed an axial extension actuator to increase the moving distance of the robot in a single motion. Furthermore, we installed this new actuator on our robot and made it possible for the robot to change the morphological motion in peristaltic crawling. The experiments with straight and elbow pipes ascertained the importance of morphological change in peristaltic crawling for increasing the speed of the robot. Moreover, in a continuous elbow pipe, the velocity of the proposed robot was 5.5 mm/s, which is 1.3 times faster than that of the conventional robot. Consequently, we confirmed that the speed of the proposed robot was sufficiently fast for inspecting a 1-in pipe.




Development of axial extension actuator for narrow pipe inspection endoscopic robot

December 2016

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16 Reads

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10 Citations

We have developed an earthworm-type 25A pipe inspection robot using a pneumatic drive. However, the developed robot had a low locomotion speed. This was due to the fact that the contraction amount of the pneumatic artificial muscle used for driving the actuator of the robot was small. To resolve the problem and increase the amount of movement of the robot, an extension actuator to extend in the axial direction was developed. The developed actuators was tested in an experiment that measured the extension amount. At that time, it was confirmed that the actuator largely extended while bending. Therefore, an experiment was performed to verify the bending of actuators and to confirm the extent of the bending. Test results confirmed that the movement tracing of extension actuator with tension springs on both the inside and outside (actuator2) was straighter than that of extension actuator that used the tension spring only on the inside (actuator1). In addition, the developed actuator was tested in an experiment that measured pushing force and pulling force. It was also verified that the extension actuator satisfied the force requirements for the robot.

Citations (4)


... Paper-fabric composite made by bonding a piece of paper and a PVC-coated nylon woven fabric together as in ref. [23] can produce a highly flexible yet non-stretchable material for the aforementioned purpose. Certain actuators that consist of soft inflatable air chambers have flexible but non-stretchable materials such as cotton thread [22], Kevlar fiber wire [30], carbon fiber [40], cloth fabric [41], or aluminum foil [40] wrapped around or embedded inside the outer wall of the chamber to restrict the expansion of the chamber in the chamber's radial direction. Another actuator has a special type of material known as shape memory alloy (SMA) wrapped around soft chambers to constrict the chamber during actuation [42]. ...

Reference:

A review on soft in-pipe navigation robot from the perspective of material, structure, locomotion strategy, and actuation technique
Morphological change in peristaltic crawling motion of a narrow pipe inspection robot inspired by earthworm’s locomotion
  • Citing Article
  • January 2018

... A soft-bodied peristaltic robot has supported the insight or the hypothesis to reproduce such morphological change that can imbue similar interactions between the body and the environment [8]. The peristaltic wave motion of the earthworm has been effectuated in the development of robots for intended applications like pipecrawling [9], [10], [11], endoscopy [12], [13], [14], and planetary excavation [15], [16]. Development of robots below the surface of the earth or within the granular medium is a challenging goal. ...

Development of pneumatically driven peristaltic-type robot for long distance inspection in half-inch pipes
  • Citing Conference Paper
  • July 2017

... Many actuation technologies have demonstrated similar body motions, which are activated independently or together to achieve locomotion [35][36][37] . Most earthworm-like soft robots have been demonstrated moving on a flat surface [36][37][38][39][40][41][42][43][44][45][46][47][48][49] or in confined spaces such as intestinal tracts 35,[50][51][52][53] and inside pipes 32,33,47,[54][55][56][57][58][59][60] . These robots are fabricated based on pneumatic actuators (positive and negative pressure) and other non-pneumatic technologies, such as shape memory alloys (SMAs), dielectric elastomers (DEAs), and tendon-based systems. ...

Development of axial extension actuator for narrow pipe inspection endoscopic robot
  • Citing Conference Paper
  • December 2016