| Summary: | In recent years, large structures, such as bridges, which are a type of social infrastructure, have been constructed with increasing traffic volume. For this reason, inspection and maintenance of social infrastructures, such as large bridges and tanks, is important. In the present paper, a magnetic wheel actuator system capable of movement using a new principle of locomotion was proposed and tested. The experimental results indicated a maximum pulling force of 1.6 N. By on-off control of the attractive force of the magnetic wheel, the actuator system was demonstrated to be able to move on a step having a height of 10 mm. Furthermore, the proposed actuator system could freely rotate in horizontal and vertical planes of over angles of 360°.
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