2A1-B03 Flight work robot with the manipulation function : 4^<th> Report: Method to attach on the wall(Aerial Robot and Mechatronics (1))

Abstract

This paper describes the development of a quadrotor with manipulation function. Up to the present time, wheeled and crawler type robot has been mainly utilized to approach into collapsed buildings. However, these type of robots are difficult to correspond to the unstructured terrain or climb up the ladder. In order to solve these problems, the flying robot which has manipulation function, has been proposed. In this report, a control method and mechanism to attach on the wall for quadrotor has been suggested and effectiveness of this approach has been experimentally verified.