We propose a hammering system which is small and light-weight to mount on an UAV and a control method for stable contact to the infrastructure wall for the inspection. In Japan, all of the infrastructure must be inspected for each five years. However, the inspection of high place is dangerous, so inspection robots are needed. Our research group studied an investigation using UAV. In this research work, we realize small and light-weight hammering system for the inspection by UAV, and control method for stable contact between the hammering system and the inspection wall. This paper shows the design of the hammering system, the evaluation of the soundproof and contact force control of UAV and inspection wall.
