Transformable Climbing Robot

2024-05-14

We have been developing a transformable climbing robot to expand its range of activities.

Climbing fence and wall

This study have been working on a robot that can climb both fences and walls by utilizing end-effectors that switch between grippers and suction cups. This study aims to realize a robot that can climbing vertical planes with various conditions.

Transition from horizontal plane to fence

This study have been working on a wheeled climbing robot that can tranfer from a horizontal plane to a fence by transformation. This aims to extend the range of a single robot activity. Climbing robots have a problem that their joints generate a lot of heat during climbing, resulting in malfunctions and breakage. To solve this problem, we have been working on that the robot takes a rest when it detects a rise in temperature.

Climbing net

This study have been working on a robot that climbs a net installed vertically. It is difficult for the robot to grasp and climb the net, because it is flexible and unstable. To solve this problem, we have been developing carabiner-shaped gripper to grasp the net securely. This study aims the robot transfers between horizontal plane and vertical nets by utilizing this gripper.

Videos

Climbing fence and wall

Climbing a fence

Climbing a wall

Outdoor experiments

Outdoor experiments from another angle

Transition from horizontal plane to a fence + climbing while resting

Climbing net

Climbing up from floor to net + grasping object on net

Climbing down from the net to the floor + grasping an object on the horizontal plane

Research poster (in Japanese)

Robomech2024.png
SI2023.png
SI2024.png

  1. Ayumu Ito, Shunsuke Kudoh and Kohei Kimura. Net climbing robot with carabiner-shaped gripper that enables checking of grasping. 25th SICE System Integration Division Annual Conference (SI2024). 2B4-05. 2024.

  2. 木村 航平. 形態変化する登攀ロボット. 日本ロボット学会誌, Vol. 42 No. 7 pp. 636-641, 2024.

  3. Takamiti Hamada, Shunsuke Kudoh and Kohei Kimura. The Resting Motion of a Climbing Robot Utilizing Manipulator Slackness. 2024 JSME Conference on Robotics and Mechatronics (ROBOMECH2024). 2P1-M09. 2024.

  4. Takamichi Hamada, Shunsuke Kudoh and Kohei Kimura. A wheeled climbing robot that can transition from a horizontal surface to a vertical fence surface. 24th SICE System Integration Division Annual Conference (SI2023). 3F3-03. 2023.

  5. 柿沼 龍, 滝澤 優, 末廣 尚士, 工藤 俊亮, 木村 航平. 3肢ロボットによるフェンス及び壁面の移動. 日本機械学会ロボティクス・メカトロニクス講演会2023 (ROBOMECH2023), 2P2-H13. 2023.

  6. 木村 航平，柿沼 龍．吸着グリッパおよび登攀ロボット．特願2023-015844．2023/02/06．

Transformable Climbing Robot
UEC RoboLab
UEC RoboLab