URARAKA IV: Multi-Legged Robot with Suckers to Climb a Wall-Autonomous climbing and recovery from miss-adsorption-

In our previous works, we focused on a robot that climbs an unknown vertical wall by using suckers, and we developed an autonomous multi-legged robot by utilizing the passivity of its body. In this paper we enhance the autonomy of the previous robot by adding the procedure of an autonomous re-adsorption. Also experiments to climb a curved wall and a rough surface were also conducted, and the effectiveness of the developed robot was demonstrated.

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