URARAKA VII : MULTI-LEGGED ROBOT WITH SUCKERS : THE REALISATION OF MOVEMENT BETWEEN ORTHOGONAL PLANES WITH THE ELASTIC TRUNK

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  • 3次元環境を移動可能な多脚型ロボット : URARAKA VII : 床面から壁面に移動可能な多脚型ロボット

Abstract

In recent years, inspection and maintenance of old tunnels, bridges and buildings have become an issue. In our previous research, we have developed a multi-legged robot with suckers to climb a wall. In this study, we improved the previous robot by adopting an elastic trunk, which enables the robot to move from the floor to the wall. By doing so, we combined the advantages of a walking robot and a climbing robot, and developed a robot that can work in a three-dimensional environment. Furthermore, we conducted experiments to demonstrate the effectiveness of the proposed mechanism.

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