@inproceedings{oai:miyazaki-u.repo.nii.ac.jp:00004209,
 author = {宮城, 弘守 and Miyagi, Hiromori and 矢括, 幸始 and Yahazu, Kouji and 矢括, 幸始 and Yahazu, Kouji},
 book = {ロボティクス・メカトロニクス講演会講演論文集, Proceedings, JSME Conference on Robotics and Mechatronics},
 month = {Jun},
 note = {A wall-driving robot was developed in 1994 in our laboratory, 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. To solve this problem, the mechanism of wall-climbing of this 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 and the experiments confirm that the model can move on an irregular wall by using a computer-aided control system.},
 publisher = {日本機械学会},
 title = {車輪駆動式壁面移動装置の障害踏破機構},
 volume = {2002},
 year = {2002},
 yomi = {ミヤギ, ヒロモリ and ヤハズ, コウジ and ヤハズ, コウジ}
}