A Modular Biped Wall-Climbing Robot With High Mobility and Manipulating Function

High-rise tasks such as cleaning, painting, inspection, and maintenance on walls of large buildings or other structures require robots with climbing and manipulating skills. Motivated by these potential applications and inspired by the climbing motion of inchworms, we have developed a biped wall-climbing robot-W-Climbot. Built with a modular approach, the robot consists of five joint modules connected in series and two suction modules mounted at the two ends. With this configuration and biped climbing mode, W-Climbot not only has superior mobility on smooth walls, but also has the function of attaching to and manipulating objects equivalent to a "mobile manipulator." In this paper, we address several fundamental issues with this novel wall-climbing robot, including system development, analysis of suction force, basic climbing gaits, overcoming obstacles, and transiting among walls. A series of comprehensive and challenging experiments with the robot climbing on walls and performing a manipulation task have been conducted to demonstrate its superior climbing ability and manipulation function. The analytical and experimental results have shown that W-Climbot represents a significant advancement in the development of wall-climbing robots.