壁面移動ロボットの床面走行試験

抄録

This paper reports the experimental results of a wall climbing robot. The wall climbing robot has dual wheel parallel to each and a pair of coaxial propeller for pushing walls. First, how to distribute each wheel velocity is denoted to realize the desired translational and angular velocity of the robot. Next, tuning the control gain for wheel velocity is conducted keeping each wheel non-contact with floors. Finally, the control performance is evaluated on a floor for the translational and angular velocity of the robot.