Development of Automatic Ladder Climbing Inspection Robot Using Extension Type Flexible Pneumatic Actuators

S. Shimooka, K. Katayama, T. Akagi, S. Dohta, T. Shinohara, T. Kobayashi, M. Aliff

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


Recently, old and dilapidated infrastructures such as bridges, chimneys and tunnels have become very serious in Japan. Inspection of the infrastructure was done by climbing the ladders that were set up. However, the inspection becomes dangerous as it is necessary to climb into very high areas and unpredictable weather and conditions. In this study, a lightweight inspection robot that can climb ladders in adverse weather conditions was proposed and tested. To grasp a ladder pillar without hurting, the wrapping motion is required. Therefore, the flexible robot arm that can grasp the ladder pillar while approaching and release it while going away was also proposed and tested. The automatic ladder-climbing inspection robot that consists of two pillar grasping flexible robot arms and a lifting robot arm was proposed and tested. The control system of the robot, driven by four on/off valves and an embedded controller, was also constructed. The ladder climbing experiment using the tested robot was carried out.

Original languageEnglish
Pages (from-to)9593-9605
Number of pages13
JournalInternational Journal of Automotive and Mechanical Engineering
Issue number1
Publication statusPublished - 2022


  • Automatic ladder climbing robot
  • Embedded controller
  • Extension type flexible
  • Grasping flexible robot arm
  • Pneumatic actuator

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering


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