段差踏破可能な省自由度壁面移動ロボットの開発

抄録

In this paper, we describe a robot for inspecting concrete walls that has suction feet and can overcome steps. The inspection of concrete walls is necessary for the maintenance and management of concrete structures. However, it requires a lot of preparation and is dangerous to be done by humans. Therefore, the use of robots is required to solve these problems. A robot that can move through walls should be lightweight. Therefore, we have developed a wall climbing robot capable of stepping oversteps with a reduced degree of freedom. This robot has one degree of freedom for each of its two legs and can turn and move up and down. it moves by rotating its two legs alternately.