Abstract
In this paper, we propose a small hexapod wall climbing robot with passive suction cups. Although wall climbing ability is required for various operations of a robot, an absorption mechanism by a negative pressure using a pump, for example, is not effective from viewpoints of downsizing or energy consumption. From this reason, we designed an attachment and detachment mechanism without electric power by four-bar linkage system with a suction cup and optimized the six leg trajectories of tripod gait driven by single degree of freedom. The developed robot with 12 cm long, 5 cm high, and 10 g traveled at 27 mm/s on the ground and climbed at 21.6 mm/s on vertical wall.
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