WallWalker: Proposal of LocomotionMechanism Cleaning Even at the CornerT. Miyake1 2 and H。 Ishihara11 Kagawa Univ. Japan2 MIRAIKIKAI Inc., JapanAbstract. The purpose of this research is to develop the window cleaning robot forcleaning a single large windowpane such as a show window。 It requires the followingdemands to apply the window cleaning robot for the practical use:1。 Clean the corner of window because fouling is left there often.2。 Sweep the windowpane continuously to prevent making striped patterns on awindowpane。The keys of mechanisms are the rotatability of the mobile part around the otherparts and the continuous locomotion in order to achieve the above points。 The formerenables the robot to change the direction with keeping its position and attitude at thecorner of window。 The latter is necessary for preventing leaving the striped patternon a windowpane。 We designed the continuous motion using two-wheel locomotionwith adhering on the windowpane using a suction cup。The size of prototype is about 300mm × 300mm × 100mm and its weight isabout 2 kg without batteries. As the results of basic experiments of the prototype ona vertical smooth window glass, traveling velocity of going up direction was 0.08 m/s，one of going down direction was 0。14 m/s and horizontal direction was 0.11 m/s.In this paper the 1st chapter mentions background and objectives of this research，and also introduces the concept of WallWalker. The 2nd chapter discussesthe adhering and moving mechanism. The 3rd chapter illustrates its basic propertiesbased on the experiments. Finally, problems and future works are discussed in the4th chapter。1 IntroductionRecently， we have had many requests for the automatic cleaning of ou...
