A lightweight wall climbing robot with reduced degrees of freedom (DOF) is under development. This robot consists of three main components. The first component is a quadruped walking robot with reduced-DOF. Since lightweight is an important feature for wall-climbing robots, the DOF of this robot were reduced until three, without hampering its ability as a walking robot. The second one is a sucker using a blower. The adhesion force with a blower is weaker than with a vacuum pump, but the blower can deal better with air leakage. The sucker developed in this research can adhere to walls with many slits and uneven ceiling. Finally, the last component is an ankle joint with wide movable range. This mechanism is indispensable for walking freely in any environment and transferring from wall to wall, wall to ceiling and ground to wall. Moreover, the appropriate compensated motion for wall climbing is considered. The structure of the wall climbing robot has been deformed by the gravity effects. Therefore, the compensated motion should be indispensable for its smooth climbing motion. Wall climbing experiments using the walker developed in this research have been performed with the proposed compensated motion

In this paper, we describe the development of a dual-arm robot with multi-fingered hands and demonstrate some behaviors of manipulating objects with its hands. In the former part of the paper, the design of the robot is presented. The hands of the robot have five fingers with a total of eleven degrees of freedom. The hand is designed considering the dexterity and the size suited for human tools and has tactile sensors equipped on the fingertips of thumb, index finger and middle finger. In the latter part of the paper, experimental demonstration of "chadou" and "cleaning up dishes" behaviors are described. Experimental results show the performance of the robot to manipulate tools of various shapes