The proposal of swarm type wall climbing robot system "Anchor Climber" $the design and examination of adhering mobile unit $

High mobility and large payload capabilities are important features for wall climbing robots. However, traditional designs could only provide one or other but not both of these features at the same time. In this paper, we propose a new robot system named "Anchor Climber", which can provide both high mobility and large payload capabilities. The proposed system is composed of two or more mobile units which can stick firmly to the wall when in a stand-still state, and also freely and reliably move on the wall holding enough adhering force to not fall from the wall during the moving state. We call this kind of unit as "adhering mobile unit". This paper address in detail, the necessary conditions to configure such a system, and also introduces the development of an adhering mobile unit using permanent magnet.