Development of a suction cup-legged robot ”GeckoPus” designed for wall climbing

Abstract

Robots that can move around indoor environments have been developed. Many of those robots use crawlers or wheels as the moving mechanism and can overcome various obstacles. However, the size of the obstacles that can be overcome depends on the size of the moving mechanism and the robot. Therefore, we focused on a wall-walking robot that does not that can overcome various obstacles regardless of the size of the moving mechanism. In this study, we adopted a sucker as the adhesion mechanism and developed a four-legged wall-walking robot. Walking experiments on slopes with the developed robot confirmed that it could climb a 30-degree incline.