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The configurational design for a wall-climbing robot which is capable of moving on diversified surfaces of wall and has high payload capability, is discussed, and a developed quadruped wall-climbing robot, NINJA-1, is introduced. NINJA-1 is composed of 1) legs based on a 3D parallel link mechanism capable of producing a powerful driving force for moving on the surface of a wall, 2) a CP (Conduit-wire-driven Parallelogram) mechanism to adjust the posture of the ankles, and 3) a VM (Valve-regulated Multiple) sucker which can provide suction even if there are grooves and small differences in level of the wall. Finally, the data of the trial-manufactured NINJA-1, and the up-to-date status of the walking motion are shown.
HIROSE et al. (Tue,) studied this question.