劣駆動型腱駆動アームを有する螺旋型円柱昇降ロボットの開発

抄録

Pole climbing robots are expected for various applications such as inspection of steel towers and observation from high places in disaster sites. Generally, the pole structure contains of different diameters. Therefore, the robot that can adapt to several diameters has been desired. Furthermore, considering the control simplification, cost and weight, increase of the actuators should be avoided. In this report, we propose a pole climbing robot with underactuated tendon-driven arms. From the experimental verifications, it was confirmed that the proposed robot can grasp and climb the pipe helically by only five actuators.