橋梁検査を目的とする磁石式四足歩行ロボットにおける磁石脱着機構の開発

抄録

As for social infrastructures such as a lot of bridges and tunnels that had been constructed in various places since the high economic growth age of postwar days, the deterioration is serious. They need periodic inspection and repair to prevent them because they are aging. However, inspecting them by inspector is both costly and time-consuming. There is a strong demand for practical bridge inspection robots to reduce the cost and time associated with the inspection of bridges by an inspector. In this study, we have developed a magnet-type quadruped robot that is good at moving steps, stairs, and uneven terrain as a bridge inspection robot. This robot can walk on a steel surface while attaching and detaching magnets attached to the toes of a quadruped robot using a gear-type magnet attachment/detachment mechanism.