Research and development of an observation system for narrow areas in buildings using a small multi-legged mobile robot

Shimano, Hiroyuki*; Kakuto, Takeshi*; Nakajima, Junsaku; Hatakeyama, Tomoyoshi*; Sato, Yuki; Torii, Tatsuo

no journal, , 

At decommissioning sites, we are developing a visualization system that combines a spider-leg type multi-legged mobile robot, which travels on the ground by autonomous movement, with a gamma ray distribution measuring device and an optical (stereo) camera for environmental measurement and analysis. The system is designed to be able to climb over debris, pass through pipes, and climb up and down stairs, and to survey the surrounding environment in areas that are not easily accessible to workers. In this presentation, we report on the development status and characteristic tests of the prototype of the small multi-legged mobile robot system we have developed so far.