Publications / 1994 Proceedings of the 11th ISARC, Brighton, United Kingdom
Steel frameworks are conveniently erected by tradesmen working on scaffolding at heights, and therefore the process is therefore dangerous to a certain extent and is dogged by the problems of a lack of skilled workers and the need for safety improvements. Recognizing such problems, we have been developing a new mobile robot that can travel freely along columns and beams to automate erection work, welding inspection, etc. The robot travels vertically and horizontally as an inchworm does and can shift from column to beam and vice versa, changing its posture. Tests of the mobile robots ability to support itself have shown that its basic performance is satisfactory.