永久磁石による磁気吸着機構を用いた進行波型全方向壁面移動ロボットの開発

抄録

We have developed the traveling wave type omni-directional mobile robot that imitates the snail locomotion mechanism. An advantage of this movement mechanism is that it enables stable motion because of a large contact area. We think that this stable motion is applicable to wall climbing. In this paper, we developed magnetic adhesion mechanism that can be switched adhesion and installed it in the robot. Furthermore, we confirmed the performance of this robot through experiments.