抄録
This study deals with a quadruped wall walking robot with four legs and four suction pads at the leg tips. Each leg is composed of three links connected by rotational joints and the robot is capable of climbing a step and moving between difference surfaces, i.e. from a floor to a wall or from a wall to a ceiling. However, such a leg mechanism easily causes the leg tip position error and generates an unexpected reaction force from a wall; thereby the wall walking robot easily falls from a wall. In this paper, distance measurement between a wall and a leg tip makes it possible that the robot can walk stably on a wall with any slope angle.
