面間遷移の可能な壁面移動ロボットの開発

-三次元移動時の制御実験-

抄録

In order to move and inspect concrete walls, we developed a wall moving robot using vacuum pads. This is a robot that walks on a wall while alternately attaching two vacuum pads. It has five degrees of freedom and can move both walls and between other surfaces. This time, the control method of the previously manufactured robot was improved. As a result of the experiment, parallel movement, rotation movement, and movement between other planes were performed. Therefore, it was confirmed that the assumed moving method can be performed.