推進力による壁面移動ロボットの研究 : 第2報, 強風時に使用可能なロボットの機構と制御

抄録

In the 1st report, the mechanism of a wall-inspection robot which is capable of moving in a weak wind on a vertical wall was investigated. For emergency use of a wall-climbing robot, such as in rescue, fire-fighting, and so on, the robot must be able to move in strong and turbulent winds at any time. Therefore, the control system for larger wind load is important. A combined control system of a thrust force controller, a frictional force augmenter and a damper is used, and its performance is estimated by a computer simulation technique. The safety of the robot is ascertained for an actual turbulent and strong wind gust.