構造物に吸着して歩行する小型検査ロボット

（踏破能力向上の検討）

抄録

This research aims to develop a small quadrupedal walking robot that can attach to ferromagnetic structures and inspect structures for structural damage. Currently, inspection with robots is attracting attention in Japan due to the aging of steel structures such as tunnels and bridges and the reduction of the labor force. Throughout the previous research, the problems of considerable size, poor adaptability, and weak detection ability for narrow environments of robots still exist. In this study, the miniature robot can move forward, backward, and turn in a two-dimensional plane by using self-excited vibrations of limit cycle vibration. In addition, the use of sliding mechanisms and flexible components in the legs allows the robot to go over obstacles of 8 mm, as well as to complete a certain climbing angle. Compared with previous studies, the robot's motion capability and adaptability have been significantly improved. In this report, we present a method and actual experimental results of the motion of overcoming a step using a flexible structure and a slide mechanism.