Abstract
The use of a wall-climbing robot for rescue, wall inspection and fire-fighting has been anticipated for a long time. Four quite different robots have been developed in our laboratory. The first robot has a large sucker and the inverse mechanism of a hovercraft. The second type has a biped walking mechanism with a small sucker on each foot. The third can move on an irregular vertical wall by using the thrust force of propellers. This is a wall driving robot. The fourth robot can fly in the air in a short distance whenever it is required. The mechanisms and control systems of these robots are discussed.
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