A BIPED WALKING ROBOT CAPABLE OF MOVING ON A VERTICAL WALL

被引：38

作者：

NISHI, A

机构：

[1] Department of Applied Physics, Faculty of Engineering, Miyazaki University, Miyazaki, 889-21

来源：

MECHATRONICS | 1992年 / 2卷 / 06期

关键词：

D O I：

10.1016/0957-4158(92)90043-N

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The use of a wall-climbing robot for purposes such as rescue, wall inspection and fire-fighting on high-rise buildings has been anticipated for a long time. Three different types of wall-climbing robots have been developed in Japan. The first one has a large area sucker, which has the reverse mechanism of a hovercraft. This type can be used only on flat and wide surfaces. The second one has crawlers to move on a vertical wall with many small suckers on them. The third one has a walking mechanism with small suckers on each foot. A biped walking model was built and tested on a vertical wall and a ceiling. The aerodynamic matching between blower performance and required forces of a sucker, as well as the control systems of the robot, are studied in detail.

引用

页码：543 / 554

页数：12