面間遷移の可能な壁面移動ロボットの開発

-改良機による動作検証-

抄録

In order to move over the concrete wall and inspect it, we developed a wall moving robot using a vacuum pad. This robot walks on the wall while sticking two vacuum pads alternately. In addition, it has 5 degrees of freedom, and it is possible to achieve both movement of the wall surface and movement between the other surfaces. This time, we made a larger improved machine than the smaller prototype we made previously. As a result of experiments, it was possible to perform parallel movement, movement between other faces, and rotational movement. We confirmed that we could do the assumed moving method.