Exploration Tracked Vehicle Kenaf
Index
Tracked Vehicle Kenaf
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Kenaf can be operated via wireless communication from apart place which is not likely to affect by a secondary disaster, get over staircases, steps (up to 40cm), and rubbles, and obtain color and thermo images of buildings, sounds, and 3D shapes. It can explore up to 100-300m of radius from the nearest wireless access point without any occlusion. An offline map-building is available as well. |
Specification of Kenaf
| Target environment |
Buildings, underground facilities which are partially collapsed or on unstable ground after a severe disaster. Requires at least 60cm diameter hole to enter. |
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Communication |
Basically wireless tele-operation. Wired is possible as well. |
| Exploration Range |
Up to 100-300m of radius from the nearest access point (if no occlusion). up to Up to 40cm staircases and steps can be traversed. |
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Sensors |
Color cameras, thermo cameras, microphones, 3D laser scanner, and trajectory sensing |
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Battery Life |
Up to 1-2 hours (may vary with environment) |
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Weight and Dimension |
20kg, Width: 430mm, Length: 580mm (minimum, when sub-tracks are folded) to 950mm (maximum, when sub-tracks are expanded) |
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Waterproofness |
1cm depth pool, misty rain |
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Acknowledgement |
Jointly developed by Chiba Institute of Technology (Drs. Koyanagi and Yoshida), Tohoku University (Tadokoro laboratory and Yoshida/Nagatani laboratory), Okayama University (Maeyama laboratory), AIST, NICT, and International Rescue System |
RoboCupRescue 2007 Atlanta
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| Overview of Kenaf 1 | Development of Kenaf 1 | Exploration in a rubble field by Kenaf 1 |
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| Checking found victim with color and thermo cameras (1) | Checking found victim with color and thermo cameras (2) |
Operation PC and the operator |
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Exploration in the pile of rubble |
Getting over the random Stepfield |
Exploration on the second floor through staircases |
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Obtaining images from the thermo camera |
Image from the thermo camera |
Interview by CNN |
RoboCupRescue 2007 Atlanta movie
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Searching victims in a trial  kenaf_victim1.mpg |
Getting over a random stepfield kenaf_mobility.mpg |
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Searching victims by Kenaf of Chiba Institute of Technology kenaf_victim2.mpg |
Traversing a rapid slope by Kenaf of Chiba Institute of Technology kenaf_slope.mpg |