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1998 Fiscal Year Final Research Report Summary

DEVELOPMENT OF WALL-CLIMBING ROBOT

Research Project

Project/Area Number 08045041
Research Category

Grant-in-Aid for international Scientific Research

Allocation TypeSingle-year Grants
SectionUniversity-to-University Cooperative Research
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionMIYAZAKI UNIVERSITY

Principal Investigator

NISHI Akira  MIYAZAKI UNIV., ENG., PROF, 工学部, 教授 (70081263)

Co-Investigator(Kenkyū-buntansha) XI Denguan  HARBIN INST.TECH., ROB.INST., PROF., ロボット研究所, 教授
WANG Yan  HARBIN INST.TECH., ROB.INST., PROF., ロボット研究所, 教授
MIYAGI Hiromori  MIYAZAKI UNIV., ENG., ASSIST., 工学部, 助手 (90219741)
ZENG Tang  MIYAZAKI UNIV., ENG., ASOC.PROF, 工学部, 助教授 (90227299)
ISHIZUKA Okihiko  MIYAZAKI UNIV., ENG., PROF, 工学部, 教授 (90040980)
Project Period (FY) 1996 – 1998
KeywordsWall-Climbing Robot / Biped Walking / Air-Turbine Actuator / Self-Powered Robot / Self-Controlled Robot / 凹凸壁面
Research Abstract

A robot capable of moving on a vertical wall has been looked forward to for a long time. It could be used for rescue, wall inspection and fire-f igliting in high-rise buildings. Four Quite different types of wall-climbing robots have been developed in Miyazaki University, Faculty of Engineering, over the last 25 years. Harbin Institute of Technology, Robotics Institute has developed many types of the wall-climbing robots for more than 10 years.
A self-powered and self-controlled wall-climbing robot has been developed with cooperation of Harbin Institute of Technology, Robotics Institute, under the Grant-in-Aid for International Scientific Research. A biped walking robot with two suction cups has been developed, It was driven by low pressure air exhausted from the blower system to adhare the suction cups to the wall surface. This actuator has a good perfornarice, especially almost the same torque characteristic as DC-moter, and this is suitable characterislic for the most robot actuator. A new robot model with these actuators at alt joints and/or pivots has been constructed and tested in Miyazaki University, It was shown clearly that a self-powered and self-controlled biped walking wall-climbing robot could be developed by using these actuators satisfactorily, and also this cooperation program could be closed with a fruitful result.

  • Research Products

    (8 results)

All Other

All Publications (8 results)

  • [Publications] A.NISHI: "Maneuvering of a flight-type wall-climbing robot" Proc. 3rd World Automation congress, WAC'98. 301-306 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] A.NISHI: "Low pressure air motor for wall-climbing robot actuation" Proc. 3rd Int. Cont. on Adranced Mechatoonics, ICAM'98. 602-607 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] A.NISHI: "A flight-type wall-climbing robot" Proc. lst Int, Symp. on Mobile, climbing and walking Robot. 35-39 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Y.ZHANG: "An air-powered biped wall-Climbing robot" Proc. 1st Int. Symp. on Mobile, Climbing and walking Robot. 291-296 (1998)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] A.Nishi, H.Miyagi: "Maneuvering of a flight-type wall-climbing robot" Proc.World Automation Congress(WAC'98). 301-306 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] A.Nishi, Y.Zhang: "Low pressure air motor for wall-climbing robot actuation" Proc.3rd Int.Conf.on Advanced Mechatronics(ICAM'98). 602-607 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] A.Nishi, H.Miyagi: "A flight -type wall climbing robot" Proc.1st Int.Symp.on Mobile, Climbing and Walking Robots(CLAWAR'98). 35-39 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Y.Zhang, A.Nishi: "An air-powered biped wall-climbing robot" Proc.1st Int.Symp.on Mobile, Climbing and Walking Robots(CLAWAR'98). 291-296 (1998)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1999-12-08  

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