A Remote Operated Quadruped Robot System for Investigation of Reactor Building

A remote operated quadruped robot has been developed for disaster site which can move on stairs, slopes, and uneven floor under the radiation-polluted environment, such as TEPCO Fukushima Daiichi nuclear power plants [1][2].In particular, the control method for stable walking and the remote operation system have been developed to move on stairs in the reactor building.We applied this robot to investigation of suspicious water leakage points in reactor building at Fukushima Daiichi nuclear power plants unit2[3]. In this investigation, a small vehicle equipped with camera and a manipulator which is connected the vehicle with cable were mounted on the robot and were carried to near the target by the quadruped robot and the investigation was carried out with the small vehicle.© 2014 ASME