Semi-autonomous multi-legged robot for 3-dimensional environments

- Proposal of a flexible leg with a sucker to claim a wall -

Abstract

In recent years, maintenance and inspection of old buildings are one of important tasks for robots. In addition, it is expected that these robots can be applied for search and rescue mission in case of disasters. In our previous work, we developed a multi-legged robot for such tasks. In this report, we focus on a task to climb a vertical wall, and we improve our previous robot and develop a flexible leg with a sucker to claim a wall.