法面点検作業の自動化支援を目指した牽引付き移動体の開発

抄録

This paper proposes a tethered mobile robot that travels on a slope. Although slopes need to be regularly inspected and repaired to prevent accidents such as collapse, sufficient work has not been done due to lack of personnel. Therefore, robots are required to work on a slope instead of humans. In this study, we aim to develop a compact and lightweight tethered robot that travel on a slope for checking and repairing its slope without traffic restrictions. We devised a moving method combining tether towing and wheel movement. We propose the composition of a robot that actually carries out the inspection work on a slope, make a prototype machine and conduct a traveling experiment.