Wall climbing robot in narrow space with pantograph-type structure

Anna Ariga, Tsukasa Kobayashi, Tomoyuki Yamaguchi, Shuji Hashimoto

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    10 Citations (Scopus)

    Abstract

    Extensive developments have been in progress in recent years to make robots that can move and inspect in narrow space which is not accessible to human such as sewer pipe, and small opening among buildings. In this paper, we focus on narrow space between two walls and introduce a novel wall climbing robot that can move in vertical narrow space. This robot is composed of two driving modules and a pantograph in between that generates pushing force against the walls to prevent from falling down. Two different kinds of springs are installed to the pantograph in order to secure certain amount of pushing force. The proposed mechanism reduces the changing of the pushing force even if the inter-wall distance changes and makes the smooth movement possible.

    Original languageEnglish
    Title of host publication2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
    Pages1507-1512
    Number of pages6
    DOIs
    Publication statusPublished - 2010
    Event2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin
    Duration: 2010 Dec 142010 Dec 18

    Other

    Other2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
    CityTianjin
    Period10/12/1410/12/18

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biotechnology
    • Human-Computer Interaction

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