Abstract
The traveling wave type omni-directional wall climbing robot imitates the snail locomotion mechanism. This movement mechanism enables stable motion because of a large contact area. Moreover, because of the magnetic adhesion mechanism used in this robot, this robot can climb ferromagnetic walls. However, this robot can move only on flat surfaces. In this paper, we developed universal joints for moving on curved surfaces and also the traveling wave type omni-directional wall climbing robot using universal joints. Furthermore, we confirmed the performance of this robot through experiments.
