Abstract
Since there are lots steel bridges all around the world. However, in order for these steel bridges to stay functional and safe, these bridges require regular inspection and maintenance for safety reasons. Unfortunately, bridge checkup requires a lot of time. Since the bridge will need to be closing down, traffic jam becomes undeniable problem during the inspection period. Steel bridge inspection also requires a lot of manpower, which means human errors could occur and these errors reduce the overall safety of the bridge. For this problem we are developing a multi-legged robot ASTERISK, which equips electro-magnets at the tip of legs. ASTERISK is able to move to every direction by controlling electro-magnets. Furthermore a hammering test is also performed by hitting the bolts of the bridge. In this paper, results of hammering test are reported. Through the experiment of hammering, we confirm that the multi-legged robot is useful for the bridge inspection.
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