Adebayor knows the game has extra meaning due to the London rivalry.
"We've had some difficult moments but this is the chance to beat Chelsea and to be in the final of the FA Cup," he told the Spurs website.
"We have to keep going, keep believing and tell ourselves, yes, we can win the FA Cup and that we have a great chance in the semi-final against Chelsea.
"This is a big London derby and we have to do it for our fans.
"They have been great throughout the season. Even in the difficult moments, they are there singing, praising us and now we have to do that to make everyone happy.
"Wembley is a great stadium, it's a big occasion and I'm sure a lot of clubs would like to be there in our place. We have to grab our chance."