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URARAKA VI: multi-legged robot with suckers to climb walls and pipes

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Abstract

In our previous works, we focused on the advantages of a passive mechanism in realizing autonomous robots, and we developed a multi-legged robot that climbs unknown vertical walls with uneven surfaces. In this study, we improve on our previous robot to broaden its workable area to include vertical pipes and corner walls. To demonstrate the effectiveness of the developed robot, experiments that included climbing uneven walls, corner walls, a large pipe, and parallel small pipes were conducted. Our results confirmed that the developed robot could climb in these environments. We conclude that the proposed mechanism is effective for climbing such unknown complex environments. The proposed robot is expected to be used in the inspection of large-scale infrastructures.

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Acknowledgements

The suction suckers used in this study were provided by Prof. Reiji Ashizawa Laboratory, Meijo University, Japan. We would like to thank them. This research was partially supported by the Japan Society for the Promotion of Science through the Grant-in-Aid for Scientific Research (18K11445, 22K12155).

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Authors and Affiliations

  1. Department of Electrical and Electronics Engineering, Hosei University, 3-7-2, Kajinocho, Koganei, Tokyo, 184-8584, Japan

    Kazuyuki Ito & Kiyoaki Yoshizawa

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  1. Kazuyuki Ito
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  2. Kiyoaki Yoshizawa
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Correspondence to Kazuyuki Ito.

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This work was presented in part at the joint symposium of the 27th International Symposium on Artificial Life and Robotics, the 7th International Symposium on BioComplexity, and the 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics (Online, January 25-27, 2022).

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Ito, K., Yoshizawa, K. URARAKA VI: multi-legged robot with suckers to climb walls and pipes. Artif Life Robotics 27, 834–841 (2022). https://doi.org/10.1007/s10015-022-00795-2

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  • DOI: https://doi.org/10.1007/s10015-022-00795-2

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