A Multiunit Wire-Mobile Robot that Avoids Obstacles and Transfers to Branch Wires.

Although there is a large demand for wire-mobile robots, it is very difficult to design a mobile robot that both avoids obstacles and transfers to a branch wire. This paper describes methods of obstacle avoidance and transferral to branch wires for a wire-mobile robot with a multiunit structure. Basic analysis, synthesis, and experimental results clarify the kinematics of and control method for this mobile robot. We also demonstrate an ultrasonic sensing system for environmental recognition, which is necessary for autonomous robot motion. The multiunit structure avoids obstacles, but it uses many actuators. We therefore propose a compact wire-mobile robot with a balancer that transfers the center of gravity.