Passively adaptable wall climbing robot in narrow space

Anna Ariga*, Tomoyuki Yamaguchi, Shuji Hashimoto

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    2 Citations (Scopus)


    This paper presents a novel wall climbing robot for a narrow space that is not accessible for humans, such as a sewer pipe and small gaps between buildings. The proposed robot consists of two driving parts and a pantograph between them that generates a pushing force against the walls to prevent the robot from falling down. Two different kinds of springs are installed on the pantograph in order to provide certain amount of the pushing force. The proposed mechanism can passively adapt to the changes in the interwall distance with a constant pushing force to achieve a smooth movement. The experimental results show that the proposed robot can work reliably and safely in different types of narrow spaces between walls.

    Original languageEnglish
    Pages (from-to)1055-1065
    Number of pages11
    JournalJournal of Robotics and Mechatronics
    Issue number6
    Publication statusPublished - 2011 Dec


    • Pantograph structure
    • Passive support
    • Spring mechanism
    • Wall-climbing robot

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • General Computer Science


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