| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a quadrupedal walking slope surface working robot capable of freely moving a slope surface working robot main body by canceling gravity working on the slope surface working robot main body by traction of two wires and preventing more than required tractive force from acting on the two wires. <P>SOLUTION: This robot is constituted of the quadrupedal walking slope surface working robot main body, the two wires having each one end part suspending the slope surface working robot main body from different upper part positions on a slope surface and wound by each winch, two load cells for measuring each tension applied to the two wires, and a control device for setting load applied to the two load cells so that the slope surface working robot main body may freely move by canceling the gravity working on the slope surface working robot main body by traction of the two wires. <P>COPYRIGHT: (C)2007,JPO&INPIT |
