A Wall-Climbing Robot Using Propulsive Force of a Propeller : Mechanism and Control in a Mild Wind

Abstract

Use of a wall-climbing robot for such purposes as rescue, wall inspection and fire-fighting in high-rise buildings has been anticipated for a long time. Three different types of models have been developed in our laboratory. The present one can move on a wall using the thrust force of propellers, which are inclined slightly toward the wall to produce the frictional force between the wheels and wall surface. It has a long and lightweight body for climbing an irregular wall surface, and its mechanism and the control system by which it can move in calm or mild wind conditions are discussed briefly.