A Wall-Climbing Robot Using Propulsive Force of Propeller. 1st Report. Mechanism and Control in a Weak Wind.

摘要

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 quite different types of models have been developed in our laboratory. The present one can move on a wall by using the thrust force of propellers, which are inclined a little to the wall side to produce the frictional force between wheels and wall surface. It has a long and lightweight body to climb up on an irregular wall surface, and its mechanism and the control system by which it can move in a calm or weak wind condition are discussed briefly.