URARAKAVII: Multi-Legged wall climbing robot : Improving of the mobility to travel from a horizontal floor to a vertical wall

Abstract

In our previous study, we developed a multi-legged robot capable of climbing uneven or warped walls and large pipes. The robot can adapt its body to these environments using passive mechanisms. In this study, we improve on the previous robot’s ability to walk on the horizontal ground and travel from the ground to the wall. We developed a new robot with a stretchable trunk, and we conducted experiments to demonstrate its effectiveness.