Inspection and maintenance of various types of structures are mandatory for safety. However, the construction of large scale scaffolding is needed for large structures. To be free from doing such work in high places and harsh environment, with an eye to reducing cost, inspection and maintenance should be done by teleoperation with no scaffolding. Based on recent improvements of performance of the permanent magnet, we developed the locomotion machine which can be attached to and move on a large scale steel structure. The machine applies a new concept of non-contact absorption by magnetic force and constant absorption force by force control. Therefore it enables stable mobility on steps and uneven surfaces without lowering absorption force on them. Moreover a moving speed of 15m/min was achieved by separating the absorption mechanism and mobile mechanism and direction change was easily achieved by a steering mechanism.