Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : November 30, 2017 - December 01, 2017
In recent years, developed infrastructures after the period of high economic growth have been aging, which has become a problem in Japan. Periodic inspections have been conducted to detect and repair their damaged areas early. However, enormous costs and a long time are required to do them. In addition, there are insufficient inspectors for the number of structures. Therefore, there is a strong demand for bridge inspection robots to aid in this task. Practical bridge inspection robots should be able to move on the inspection route with simple maneuver. For that purpose, an appropriate control system needs to run autonomous on the bridge. Therefore, we have developed a simulation model of a bridge inspection robot BIREM-IV which has 10 degrees of freedom. And, it is possible to reproduce the behavior of BIREM-IV running on a wall surface. Using this model, we also developed control system to stabilize the robot motion at a right angle part like the wall-to-ceiling part.
