抄録
In this paper, we propose a cm-order legged robot that can climb and descend various vertical surfaces. For initial surveillance and inspection, distributed operation by many small and cheap robots is more available than that by a large and multifunctional robot. However, for a cm-order robot, rough terrain with small irregularity is equivalent to a big slope or vertical surface. Here, we developed a hexapod robot with length of 8.3 cm and weight of 11.5 g, which has claw feet for wall climbing and descending. The robot realized concrete wall climbing with a velocity of 0.7 mm/sec and the descending with a velocity of 1.22 mm/sec.
