滑りを考慮した壁面移動ロボットの動的シミュレーション

抄録

Nowadays, many old infrastructures such as hydroelectric dams, tunnels, and bridges strongly require to be inspected the inner states of walls. Hence, some wall-running robots have been developed in order to detect flaws inside walls by way of hitting sounds or infrared photographs. However, most of the past robots have weak points such as the limited usage wall and the rather slow motion. We also have developed a climbing robot equipped with a pair of driving wheels and a coaxial propeller thruster. The robot verified the spinning motion or the translational motion on vertical walls along the gravity direction by controlling the force of the propeller thrusters. From these experiments, we confirmed that the excellent motion performance depends on both precisely estimating the friction between the wheel and the wall and appropriately distributing the force of the propeller thruster. Thus, we originally have produced the dynamic simulator for design and control of the wall climbing robot. This study reports the outline of the dynamic modeling, and demonstrates some simulation results based on the dynamic simulator.