抄録
In this research, a multi-legged wall climbing robot is developed. The wall climbing robot has four legs, each of which is composed of three links and has a vacuum pad on the tip. The robot can move even on vertical walls with steps and gaps by the link mechanism and adhesion force generated through negative pressure in the vacuum pad. This paper explains the improvements for the control system of the manufactured wall climbing robot. The demonstration of the improved robot system successfully shows the mobility on vertical wall.
