昆虫の爪を規範とした壁面移動ロボットの研究

抄録

This paper describes a wall-climbing robot with insect-inspired claws, which can stay and move on rough vertical surfaces by hooking the claws on surface asperities. A crawler device with twenty-four fishing hooks was used as a propulsion mechanism to stabilize adhesion. A running test was carried out on sandpaper surfaces with various surface roughness. The test results show that the robot can move on sandpaper surfaces with particle sizes of #40 and #60 and inclination angles of 30 °, 60 °, and 90 °. However, the crawler became more slippery and the moving distance became shorter at large inclination angle.