@article{oai:miyazaki-u.repo.nii.ac.jp:00002775,
 author = {矢括, 幸始 and Yahazu, Kouji and 宮城, 弘守 and Miyagi, Hiromori and 矢括, 幸始 and Yahazu, Kouji},
 journal = {宮崎大学工学部紀要, Memoirs of Faculty of Engineering, University of Miyazaki},
 month = {Jul},
 note = {Robots capable of moving on vertical walls have been searched for a long time. They are applied for rescue or fire-fighting in a high-rise building. Several types of wall-climbing robots have been developed in our laboratory for 25 years. A wall-driving robot was developed in 1994, and it could move on a vertical wall by using thrust force of two propellers and wheels. This model is easily controlled on a flat wall, but was difficult to use on an irregular wall. In the previous year, to solve this problem, the mechanism of wall-climbing of propeller type was simulated on a computer, and particular attention was paid to and maneuverability in the movement of this robot. A test model is manufactured this year and the experiments confirm that the model can move on an irregular wall by using a computer-aided control system.},
 pages = {59--68},
 title = {車輪移動式壁面移動装置の踏破性能向上の研究},
 volume = {31},
 year = {2002},
 yomi = {ヤハズ, コウジ and ミヤギ, ヒロモリ and ヤハズ, コウジ}
}