小型壁面吸着移動ロボットの歩容シミュレーション環境構築と評価

抄録

Japanese infrastructures that built rapid at economy growth. Inspection and repair of infrastructures are required. But shortage of engineers and dangerous workspace. Particularly wall surface is one of the hardest environments to inspect and repair by human. Thus, we think to develop the robot that inspect, and repair wall surface automatically. Our purpose to develop the small wall climbing robot for inspecting and repairing wall surfaces. We consider multi-legged robot with negative pressure adsorption mechanism. Multi-legged robot can walk on uneven terrain. We would like to know both performance of adsorption mechanism and walking method. We have developed simulation for evaluating the walking method that can walk on wall dose not decrease the adsorption force and develop experiment system for evaluating the exhaust system for predicting the adsorption force from adsorption mechanism