The ACM-R4H robot, designed for remote inspection and surveillance in confined environments (such as air ducts, pipes or inside debris), uses active wheels to move but can slither and undulate, and even raise its head like a cobra.
ACM-R4H carries a camera and LEDs on its head for image acquisition, and can be equipped with other end-effectors such as mechanical grippers or thermo/infrared vision systems.
In March 2017, a customized version of AMC-R4H was used inside the reactor No.1 building of the Fukushima No.1 nuclear power plant. As it moved among the debris of the damaged building, it acquired pictures and videos areas around the reactor core for the first time since the nuclear accident of 2011.
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