{"id":1119,"date":"2024-10-09T18:16:05","date_gmt":"2024-10-09T09:16:05","guid":{"rendered":"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/?page_id=1119"},"modified":"2024-11-05T19:34:44","modified_gmt":"2024-11-05T10:34:44","slug":"wall-climbing-robot","status":"publish","type":"page","link":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/research\/small-legged-robot\/wall-climbing-robot\/","title":{"rendered":"Wall-climbing Robot"},"content":{"rendered":"<div data-colibri-id=\"1119-c1\" class=\"style-616 style-local-1119-c1 position-relative\">\n  <!---->\n  <div data-colibri-component=\"section\" data-colibri-id=\"1119-c2\" id=\"initial-content\" class=\"h-section h-section-global-spacing d-flex align-items-lg-center align-items-md-center align-items-center style-617 style-local-1119-c2 position-relative\">\n    <!---->\n    <!---->\n    <div class=\"h-section-grid-container h-section-boxed-container\">\n      <!---->\n      <div data-colibri-id=\"1119-c3\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-689 style-local-1119-c3 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-690-outer style-local-1119-c4-outer\">\n            <div data-colibri-id=\"1119-c4\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-690 style-local-1119-c4 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c5\" class=\"h-text h-text-component style-691 style-local-1119-c5 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>&#8220;Small&#8221; is convenient for locomotion counteracting gravity, such as vertical wall climbing, upside-down locomotion on the ceiling, on-water running, and so on, because of scaling effect which own weight decreases in proportion to the\n                      cubed of the length.&nbsp; We are developing various small locomotion mechanism.<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c6\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-1135 style-local-1119-c6 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1136-outer style-local-1119-c7-outer\">\n            <div data-colibri-id=\"1119-c7\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-1136 style-local-1119-c7 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c8\" class=\"h-text h-text-component style-1137 style-local-1119-c8 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <h4><span style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(70, 112, 127);\">Crow-style locomotion (Kawasaki the 1st model 2013):<\/span><\/h4>\n                    <p>The robot has two mechanisms, one above and one below, each with three legs including two claws, and climbs the vertical wall by tripod gait. It can climb the wall with many small holes like a concrete wall, however cannot climb the\n                      wall with the small convex like bumps.&nbsp;<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c9\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-626 style-local-1119-c9 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-627-outer style-local-1119-c10-outer\">\n            <div data-colibri-id=\"1119-c10\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-627 style-local-1119-c10 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c11\" class=\"d-block h-video d-block h-video style-628 style-local-1119-c11 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/xfbI6_o5uLA?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-630-outer style-local-1119-c13-outer\">\n            <div data-colibri-id=\"1119-c13\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-630 style-local-1119-c13 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c14\" class=\"d-block style-1138 style-local-1119-c14 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"683\" height=\"459\" src=\"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig01.png\" class=\"wp-image-2988 style-1138-image style-local-1119-c14-image\" alt=\"\" srcset=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig01.png 683w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig01-300x202.png 300w\" sizes=\"auto, (max-width: 683px) 100vw, 683px\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-1138-frameImage style-local-1119-c14-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1134-outer style-local-1119-c15-outer\">\n            <div data-colibri-id=\"1119-c15\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1134 style-local-1119-c15 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c16\" class=\"d-block style-1139 style-local-1119-c16 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"692\" height=\"317\" src=\"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig03.png\" class=\"wp-image-2989 style-1139-image style-local-1119-c16-image\" alt=\"\" srcset=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig03.png 692w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig03-300x137.png 300w\" sizes=\"auto, (max-width: 692px) 100vw, 692px\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-1139-frameImage style-local-1119-c16-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c17\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-1140 style-local-1119-c17 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1141-outer style-local-1119-c18-outer\">\n            <div data-colibri-id=\"1119-c18\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-1141 style-local-1119-c18 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c19\" class=\"h-text h-text-component style-1142 style-local-1119-c19 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <h4><span style=\"color: rgb(70, 112, 127); font-family: &quot;Open Sans&quot;; font-size: 16px; font-weight: 400;\">Suction cup model (Kawasaki the 2nd model 2013):<\/span><\/h4>\n                    <p>To climb the vertical wall, the pushing force to attach the wall must be less than the peeling force to detach the wall.&nbsp;The combination of the leg trajectory and the attitude created by the linkage mechanism generates such motion\n                      like gecko (left). The middle video shows the direction change of gecko. The right shows the fall.&nbsp;&nbsp;<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c20\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-621 style-local-1119-c20 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-622-outer style-local-1119-c21-outer\">\n            <div data-colibri-id=\"1119-c21\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-622 style-local-1119-c21 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c22\" class=\"d-block h-video d-block h-video style-623 style-local-1119-c22 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/LPG_ky6wfXs?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1147-outer style-local-1119-c24-outer\">\n            <div data-colibri-id=\"1119-c24\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1147 style-local-1119-c24 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c25\" class=\"d-block style-1149 style-local-1119-c25 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"490\" src=\"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig05.png\" class=\"wp-image-3004 style-1149-image style-local-1119-c25-image\" alt=\"\" srcset=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig05.png 674w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig05-300x218.png 300w\" sizes=\"auto, (max-width: 674px) 100vw, 674px\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-1149-frameImage style-local-1119-c25-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1148-outer style-local-1119-c26-outer\">\n            <div data-colibri-id=\"1119-c26\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1148 style-local-1119-c26 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c27\" class=\"d-block style-1150 style-local-1119-c27 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"649\" height=\"359\" src=\"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig08.png\" class=\"wp-image-3005 style-1150-image style-local-1119-c27-image\" alt=\"\" srcset=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig08.png 649w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig08-300x166.png 300w\" sizes=\"auto, (max-width: 649px) 100vw, 649px\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-1150-frameImage style-local-1119-c27-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c28\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-1214 style-local-1119-c28 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1215-outer style-local-1119-c29-outer\">\n            <div data-colibri-id=\"1119-c29\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1215 style-local-1119-c29 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c30\" class=\"d-block h-video d-block h-video style-1216 style-local-1119-c30 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/9lC_qs2U6OM?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1218-outer style-local-1119-c32-outer\">\n            <div data-colibri-id=\"1119-c32\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1218 style-local-1119-c32 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c33\" class=\"d-block h-video d-block h-video style-1220 style-local-1119-c33 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/FkWMxeK0da4?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1222-outer style-local-1119-c35-outer\">\n            <div data-colibri-id=\"1119-c35\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1222 style-local-1119-c35 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c36\" class=\"d-block h-video d-block h-video style-1223 style-local-1119-c36 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/H6W7YMk8EOU?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c38\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-1143 style-local-1119-c38 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1144-outer style-local-1119-c39-outer\">\n            <div data-colibri-id=\"1119-c39\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-1144 style-local-1119-c39 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c40\" class=\"h-text h-text-component style-1145 style-local-1119-c40 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <h4><span style=\"color: rgb(70, 112, 127); font-family: &quot;Open Sans&quot;; font-size: 16px; font-weight: 400;\">Inchworm-style model (Funatsu model 2014)<\/span><\/h4>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c41\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-735 style-local-1119-c41 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-736-outer style-local-1119-c42-outer\">\n            <div data-colibri-id=\"1119-c42\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-736 style-local-1119-c42 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c43\" class=\"d-block h-video d-block h-video style-737 style-local-1119-c43 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/dqT615nuP6w?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-739-outer style-local-1119-c45-outer\">\n            <div data-colibri-id=\"1119-c45\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-739 style-local-1119-c45 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c46\" class=\"d-block h-video d-block h-video style-741 style-local-1119-c46 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/xorqppuIcno?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1146-outer style-local-1119-c48-outer\">\n            <div data-colibri-id=\"1119-c48\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1146 style-local-1119-c48 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c49\" class=\"d-block style-1151 style-local-1119-c49 position-relative h-element\">\n                  <!---->\n                  <div class=\"h-image__frame-container-outer\">\n                    <div class=\"h-image__frame-container\">\n                      <!---->\n                      <!---->\n                      <img loading=\"lazy\" decoding=\"async\" width=\"394\" height=\"375\" src=\"https:\/\/www.kikulab.it-chiba.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig00.png\" class=\"wp-image-3013 style-1151-image style-local-1119-c49-image\" alt=\"\" srcset=\"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig00.png 394w, https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-content\/uploads\/2024\/11\/fig00-300x286.png 300w\" sizes=\"auto, (max-width: 394px) 100vw, 394px\" \/>\n                      <div class=\"h-image__frame h-hide-lg h-hide-md h-hide-sm style-1151-frameImage style-local-1119-c49-frameImage\"><\/div>\n                    <\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c50\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-1225 style-local-1119-c50 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1226-outer style-local-1119-c51-outer\">\n            <div data-colibri-id=\"1119-c51\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-1226 style-local-1119-c51 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c52\" class=\"h-text h-text-component style-1227 style-local-1119-c52 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <p>Wall climbing insects (2021)<\/p>\n                    <p>Ants can climb on various types of walls. But, while beetles can climb the concave wall, they cannot climb the convex wall<\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c53\" class=\"h-row-container gutters-row-lg-1 gutters-row-md-1 gutters-row-0 gutters-row-v-lg-1 gutters-row-v-md-1 gutters-row-v-1 style-1228 style-local-1119-c53 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-1 gutters-col-md-1 gutters-col-0 gutters-col-v-lg-1 gutters-col-v-md-1 gutters-col-v-1\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1229-outer style-local-1119-c54-outer\">\n            <div data-colibri-id=\"1119-c54\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1229 style-local-1119-c54 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c55\" class=\"d-block h-video d-block h-video style-1230 style-local-1119-c55 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/CMAoDAgiX1s?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1232-outer style-local-1119-c57-outer\">\n            <div data-colibri-id=\"1119-c57\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1232 style-local-1119-c57 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c58\" class=\"d-block h-video d-block h-video style-1233 style-local-1119-c58 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/m8IEdd4E4xs?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-1235-outer style-local-1119-c60-outer\">\n            <div data-colibri-id=\"1119-c60\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-1 h-px-md-1 h-px-1 v-inner-lg-1 v-inner-md-1 v-inner-1 style-1235 style-local-1119-c60 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-component=\"video\" data-colibri-id=\"1119-c61\" class=\"d-block h-video d-block h-video style-1236 style-local-1119-c61 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"video-container position-relative\">\n                    <div class=\"h-global-transition-all ratio-inner\"><iframe src=https:\/\/www.youtube.com\/embed\/qtrWFFrdzbI?autoplay=0&#038;mute=0&#038;modestbranding=0&#038;rel=0&#038;enablejsapi=1&#038; class='h-video-main'  allowfullscreen><\/iframe><\/div>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n      <div data-colibri-id=\"1119-c63\" class=\"h-row-container gutters-row-lg-2 gutters-row-md-2 gutters-row-0 gutters-row-v-lg-2 gutters-row-v-md-2 gutters-row-v-2 style-694 style-local-1119-c63 position-relative\">\n        <!---->\n        <div class=\"h-row justify-content-lg-center justify-content-md-center justify-content-center align-items-lg-stretch align-items-md-stretch align-items-stretch gutters-col-lg-2 gutters-col-md-2 gutters-col-0 gutters-col-v-lg-2 gutters-col-v-md-2 gutters-col-v-2\">\n          <!---->\n          <div class=\"h-column h-column-container d-flex h-col-lg-auto h-col-md-auto h-col-auto style-695-outer style-local-1119-c64-outer\">\n            <div data-colibri-id=\"1119-c64\" class=\"d-flex h-flex-basis h-column__inner h-px-lg-2 h-px-md-2 h-px-2 v-inner-lg-2 v-inner-md-2 v-inner-2 style-695 style-local-1119-c64 position-relative\">\n              <!---->\n              <!---->\n              <div class=\"w-100 h-y-container h-column__content h-column__v-align flex-basis-100 align-self-lg-start align-self-md-start align-self-start\">\n                <!---->\n                <div data-colibri-id=\"1119-c65\" class=\"h-text h-text-component style-696 style-local-1119-c65 position-relative h-element\">\n                  <!---->\n                  <!---->\n                  <div class=\"\">\n                    <h6>References:<\/h6>\n                    <p>.&nbsp;<span style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(70, 112, 127);\">Mayo Funatsu, Yushi Kawasaki, Soichiro Kawasaki, Koki Kikuchi:&nbsp;<\/span>\n                      <a href=\"https:\/\/www.mmscience.eu\/journal\/issues\/october-2014\/articles\/development-of-cm-scale-wall-climbing-hexapod-robot-with-claws\"\n                        style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(3, 169, 244);\" class=\"customize-unpreviewable\">DEVELOPMENT OF cm-SCALE WALL CLIMBING HEXAPOD ROBOT WITH CLAWS<\/a><span style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(70, 112, 127);\">\uff0cMM (Modern Machinery) Science Journal, October 2014, pp.484-489, (2014)\uff0eDOI: 10.17973\/MMSJ.2014_10_201411, (Translated paper: Recommended by ICDES2014).<\/span><\/p>\n                    <p><span style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(70, 112, 127);\">.&nbsp;Soichiro Kawasaki and Koki KIKUCHI,&nbsp;<\/span>\n                      <a href=\"http:\/\/www.jsde.or.jp\/icdes\/proceedings\/3rd-2014\/pdf\/2077.pdf\"\n                        style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(3, 169, 244);\">Development of Legged Wall Climbing Robot using Passive Suction Cups<\/a><span style=\"font-weight: 400; font-size: 16px; font-family: &quot;Open Sans&quot;; color: rgb(70, 112, 127);\">, JSDE, The 3rd International Conference on Design Engineering and Science: ICDES2014, (Sep. 2014), Pilsen, Czech Republic, Vol.2, pp.112-116.<\/span><\/p>\n                  <\/div>\n                <\/div>\n              <\/div>\n            <\/div>\n          <\/div>\n        <\/div>\n      <\/div>\n    <\/div>\n  <\/div>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>&#8220;Small&#8221; is convenient for locomotion counteracting gravity, such as vertical wall climbing, upside [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":837,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/full-width-page.php","meta":{"footnotes":""},"class_list":["post-1119","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1119","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/comments?post=1119"}],"version-history":[{"count":20,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1119\/revisions"}],"predecessor-version":[{"id":3353,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/1119\/revisions\/3353"}],"up":[{"embeddable":true,"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/pages\/837"}],"wp:attachment":[{"href":"https:\/\/www.kikulab.chibatech.ac.jp\/Eng\/wp-json\/wp\/v2\/media?parent=1119"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}