2P1-C03 テザーを利用した跳躍移動を行う壁面吸着ロボットの機構と制御の研究(特殊移動ロボット)

概要

論文の詳細を見る
Wall surface tasks at high buildings typified by window cleaning are very dangerous work. Therefore kinds of wall climbing robots have been studied. It is one of challenges for those robots, especially robots with adsorbable device for movement, that they possess capability of getting over hurdles on a wall and moving quickly. For this challenge, wall climbing robot with tethered jumping motion was proposed and effectiveness of jumping motion was confirmed. In this paper, mechanisms for jumping motion, posture control and sticking on a wall and the robot which was equipped with them were developed. We confirmed each mechanism performed each action in experiments. These results suggest the effectiveness of mechanisms.
一般社団法人日本機械学会の論文
2008-06-06