High mobility and large payload capability are important abilities for wall climbing robots. The authors have proposed a new robot system Anchor Climber that could achieve both of these abilities. This robot system is composed of two or more child units and a parent unit. As child units of Anchor Climber, the authors have developed three types of special wall climbing robots, Adhering Mobile Units (AM Units) Type A, B and C. In this paper, developments of other components of Anchor Climber, configuration of Anchor Climber with these components, basic systematic experiments with configured Anchor Climber, and new type of AM Unit are described. From results of the experiments, it was confirmed that Anchor Climber had both high mobility and large payload capability.

High mobility and large payload capability are important for wall climbing robots. The authors have proposed a new robot system Anchor Climber that could achieve both of these two abilities. This robot system is composed of two or more child units and a parent unit. As child units, wall climbing robots Adhering Mobile Units (AM Units) have been developed by using the technique of internally-balanced magnet (IB Magnet). In this paper, study of IB Magnet to use AM Units effectively, proposal of transformable crawler unit as a driving unit of AM Unit, development of an advanced AM Unit with these new mechanisms, and experiments with the robot to confirm effects of added new mechanisms are described.

High mobility and large payload capability are important abilities for wall climbing robots. Authors have proposed a new robot system can provide both of these abilities, named anchor climber. This robot system is composed of two or more child units and a parent unit. Authors also have proposed special wall climbing robots to use these robots as child units of anchor climber, named adhering mobile units (AM Units). Moreover, authors have already developed AM Unit Type A as first prototype of AM Unit. In this paper, authors describe developments of two new types of AM Units, a new type of cover mechanism, and experiments with these AM Units. For these experiments, authors confirmed these units had abilities to act as child units of anchor climber.

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.