Atsuo Takanishi, Faculty of Science and Engineering, Waseda University, Professor Atsuo Takanishi, Kenji Hashimoto, Institute of Advanced Science and Engineering, Waseda University Developed by Assistant Professor and Mitsubishi Heavy Industries, Ltd.

 It is imperative to use a vertical ladder to move within a power plant or plant.In recent years, infrastructure accidents due to natural disasters and aging have frequently occurred, so the development of robots that can work in dangerous environments instead of humans has been awaited.However, existing robots have the drawback of being extremely slow because they move one limb at a time with three-point support to prevent falls.

 With the development of a new algorithm that appropriately controls the movement of each mass point of the whole body and the reaction force at the gripping point, the robot can move up and down the vertical ladder only by supporting two points of the left hand and the left foot or the right hand and the right foot. ..The vertical ladder can be raised and lowered 2 times faster than the existing one, and the aircraft can be prevented from slipping down.By applying this algorithm, the operation of attaching to a vertical ladder was also realized.

 In the future, it is expected that the leg-shaped robot will be put into practical use in order to carry out work in dangerous places.In addition, since the hands and feet of the leg-shaped robot are hook-shaped and tools cannot be used, a leg-shaped robot with working ability is also planned to be developed.

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