Passively adaptable wall climbing robot in narrow space

Anna Ariga*, Tomoyuki Yamaguchi, Shuji Hashimoto


    研究成果: Article査読

    2 被引用数 (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.

    ジャーナルJournal of Robotics and Mechatronics
    出版ステータスPublished - 2011 12月

    ASJC Scopus subject areas

    • 電子工学および電気工学
    • コンピュータサイエンス一般


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