Abstract
A method for walking on a grid wall for limb mechanism robot "ASTERISK" is proposed. In this method, grid structure is implemented to wall for the locomotion field of robot. The robot hangs on the grid structure by hooks attached on each tip of leg. The condition hanging on the grid structure changes according to the inclination of the grid wall. To achieve climbing motion on the grid wall, we implement the distributed force control with the supporting legs. The proposed method is confirmed by experimental results.
