2A1-E12 凹凸のある壁面・天井を移動するゲル粘着式移動探査機 : 第3報:方向操舵方法

概要

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Inside half collapsed buildings after disasters, the walls and ceilings are tidier than the floor. Therefore, if rescue robots can climb on the wall and ceiling in rescue operations, effective information gathering is possible. For such cases, the Authors proposed wall climbing robots, Peta-peta-I, and Peta-peta-II, which uses adhesion for climbing on the wall. They can climb on the rugged wall and ceiling, but they had no mechanisms to enable steering. In this paper, we propose a steering method for a new robot. The moving method of the robot is the same as Peta-peta-I and the steering method is based on pivot turning with a steering mode. The developed robot confirmed its capability of the performance on the wall and ceiling through experiments.
一般社団法人日本機械学会の論文