抄録
This research describes the development of a mobile robot to achieve adhesive locomotion on walls and ceilings. To achieve the objective, we focus on adhesive locomotion of a snail and study basic principles of the locomotion. Although it is known that snails ejecting mucus while moving, the precise mechanism was unclear. Therefore, to examine the movement and characteristic of snail, basic experiments were performed using Euhadra peliomphala. Next, we examine the principle of snail type adsorption. As a result, the snail mucus unique rheology characteristic had been shown. Using these experimental results and findings, we developed a snail-type mobile robot and the possibility of snail type adhesive locomotion robot had been implemented.
