The development of the mobile inspection robot for rescue activity, MOIRA2

This paper proposes a new type of inspection robot for rescue activity MOIRA2. We have developed a rescue robot MOIRA before, which has ability to dive into rubble. Based on the experience of MOIRA, we develop its improved version MOIRA 2. In this paper, we describe the characteristics and design policy of MOIRA2 comparing with MOIRA. Furthermore, the results of experiment are shown to demonstrate its performance