A Two-Legged Robot for Climbing Vertical Surfaces Based on Pressure-Sensitive Adhesion and Peeling

In this paper, we introduce a novel two-legged wall-climbing robot that employs a pressure-sensitive adhesion and a peeling mechanism to traverse vertical surfaces. Additionally, we present a joint trajectory planning algorithm that optimizes the robot’s energy consumption while considering its kinematic and dynamic constraints. The algorithm ensures that the robot adheres to the surface throughout the climbing process, offering a straightforward and effective solution for controlling the robot’s motion during wall climbing. We also report a few preliminary experimental results of the robot climbing operation on vertical planes of inclination up to \(75^0\) . This technology has promising applications in the fields of surveillance and inspection.