Development of wall climbing robot using passive joint and vacuum pad on rough surface

摘要

This paper proposes a pneumatic actuated multi-leg robot for evaluation of our developed for robots to inspect infrastructure that is tough environment: vertical wall, pipe, and dusty and uneven surfaces. It has been verified that the component could absorb at such surfaces. Then it should be assessed that a robot can move in the tough environment using our component. To verify this moving ability, we develop the pneumatic actuated multi-leg robot. The vacuum component absorbs by using compressed air, therefore the all actuators on this robot are actuated by compressed air. This paper shows a specification of the robot to climb uneven vertical surfaces.