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English:A Novel Long-Reach Robot with Propulsion Through Water-Jet 
Japanese: シルバ・リコ ホセ・アントニオ, 広瀬 茂男, 山田 浩也, 遠藤 玄, 鈴森 康一.  
English: Jose A. Silva Rico, Shigeo Hirose, Hiroya Yamada, Gen Endo, Koichi Suzumori.  
Language English 
Journal/Book name
English:Proceedings of the 2016 IEEE International Workshop on Advanced Robotics and its Social Impacts 
Volume, Number, Page         pp. 255-260
Published date July 8, 2016 
Conference name
English:2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) 
Conference site
Official URL https://doi.org/10.1109/ARSO.2016.7736291
DOI https://doi.org/10.1109/ARSO.2016.7736291
Abstract Long-reach robots offer good performance developing tasks in areas where the access is difficult or dangerous. Due to their multiple degrees of freedom, they are able to adapt easily to different environments. These robots base their locomotion to two different elements: tendon cables or fluid pressure elements. Normally these robots are divided in sections and each section has its independent degrees of freedom. Therefore, if the length of the robot increases, the number of sections increases as well. This also means an increment in the diameter for each section and a more complex control for the whole system. In this paper we introduce the concept of a novel water-jet long-reach robot, which allows increasing the length of the robot without affect its number of elements, control complexity and diameter. Due to its characteristics, it is possible to use this robot in different environments, confined or opened spaces. We test the performance of the first prototype in different scenarios in order to validate our concept.

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