Wall climbing robot in narrow space with pantograph-type structure

Anna Ariga, Tsukasa Kobayashi, Tomoyuki Yamaguchi, Shuji Hashimoto

    研究成果: Conference contribution

    10 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
    ページ1507-1512
    ページ数6
    DOI
    出版ステータスPublished - 2010
    イベント2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 - Tianjin
    継続期間: 2010 12 142010 12 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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