2A1-D01 Evaluation of Soft Micro Slanted-hairs Mechanism and its Application to a Wall Climbing Robot(Flexible Robot/Mechanism and its Control)

摘要

In this paper, we have developed adherent device with micro slanted-hairs. we have shown characteristics of micro slanted-hairs made with soft material by experiments. Using soft material, we have discovered that some micro slanted-hairs have the opposite characteristic of friction to conventional one. In addition, we have proposed a soft climbing robot applying this adherent device. This robot adheres on wall with adhesion of material, and moves by action of micro slanted-hairs. We have designed and made an actuator that expands and shrinks by air pressure, and then we have developed a climbing robot by equipping the adherent device with the actuator. This robot is controlled by air pressure. This robot is tested on a horizontal plane and a vertical plane. These experiments have shown the robot and the adherent device work successfully.