三次元環境を半自律移動可能な多脚型ロボット

―壁面に対応可能な吸盤脚の提案―

抄録

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.