Wall-climbing Robot 4

RISE climbing Robots
Three RiSE platforms, with slightly elongated bodies to allow larger
integrated spiny+sticky feet (adapted from SpinyBot), were tested
on a variety of surfaces including, stucco, concrete with
pebbles, brick, plexiglass and trees.
more

Mecho-Gecko

While Full and Berkeley engineering professor Ron Fearing study
geckos' setae, the tiny hairs on its feet, for clues to replicating nature's
miraculous dry adhesive, iRobot has built two gecko-inspired robots
with Full's help. The Mecho-Gecko's three legs are tipped with
a pressure-sensitive adhesive (think Post-Its) to mimic the
unroll-and-peel-off manner in which geckos climb, while the Bull-Gecko
uses the same adhesive on bulldozer-like treads instead of legs.
The next design will be a legged version with a flexible spine.

more

Wall-climbing Robot 3

BIGGALO Wall Climbing Robot
BIGGALO (BIG uGly And LOud) is a pneumatics based robot that is

designed to climb relatively smooth vertical surfaces.http://www.engr.uvic.ca/~pmauro/index.html

RIMINIDevelopment of New and Novel Low Cost Robot
Inspection Methods for In-Service Inspection of Nuclear
Installations

The robot uses a common principle to climb; which is to create
a negative force to stick the robot to the wall. This is achieved using
3 sliding suction cups, with the suction created by centrifugal pumps
driven by high speed air motors. The key advantage of this
technique is that expelling water creates a thrust force when the
system is not touching the wall. The force pushes the robot
towards the wall till the suction cup becomes attached to the wall.http://www.twi.co.uk/content/rimini_final_paper.html

DynaClimber

Recent biological findings indicate that a number of fast climbing
animals (in particular the gecko and cockroach) climb in a dynamically
similar manner. Despite their different morphologies, limb number,
and attachment mechanisms both of these animals undulate laterally
with significant in pulling forces. These findings have prompted
a proposed template for dyanmic vertical climbing.http://www.eng.fsu.edu/~clarkj/stride/climbing.htm

more

-

-

-

Wall-climbing Robot 4

Wall-climbing Robot and Wall-climbing Robot Book

Wall-climbing Robot 2

C-Bot Wall Climbing Bionic Robot

C-Bot Wall Climbing Bionic Robot By Niklas Galler
Do you ever imagine that someday, you can performs a wall
climbing with a help from robot or some device that can make you
stick to the wall. I never imagine that before. Maybe with the C-Bot
design by Niklas Galler we can start thinking to perform our own
“climbing stunt”. C-Bot a bionic wall climbing concept the
basically used the “gecko” innovative foot climbing design as
a template to climb wall without any artificial adhesion.

more

LARVA-I

We introduce a wall climbing robot system "LARVA" for visual
inspection of bridges using an impellent force adhesion method.
This adhesion mechanism consists of an impeller and flexible
suction seals which provide sufficient adhesion forces for supporting
its body on the surface by keeping the air pressure inside the foot of
the robot less than a critical safe value. A comprehensive study is
performed on the dynamic fluid modeling of the adhesion mechanism.
In addition, the stable locomotion on the vertical wall and an adhesion
control method for a wall climbing robot are derived. The controller,
though it is simple, provides a useful framework for controlling a wall
climbing robot.
http://mecha.skku.ac.kr/board/list.php?bbs_id=Robotics_02

MRWALLSPECT-III

RWALLSPECT III can walk in planes as well as climb walls
with suction pad. Since the robot is expected to be able to
move from wall to wall, wall to plane including negotiationing
convex or concave the robot. By performing intuitive and
geometrical analysis, critical aspects of design such as joint
ranges, design of ankles, and location of actuators are applied
to the robot. And also the robot is designed to carry an ultrasonic
NDT tool for inspection of the large suface of industrial utilities.
http://mecha.skku.ac.kr/board/list.php?bbs_id=Robotics_02

more

Wall-climbing Robot 3

Wall-climbing Robot 1

Electroadhesive Robots
Enabling wall-climbing robots for security/military,
inspection, and service applications
Electroadhesion offers advantages over other types of technologies
for wall climbing, including robust clamping over a variety of surfaces
(rough or smooth, conductive or insulating), low power, resistance
to dust, and fast, electrically controllable clamping and unclamping
. Thus, electroadhesion lends itself to a variety of wall-climbing
robots. Tracked "tank" type wall-climbing robots, as well as more
biomimetic inchworm-type robots, have been successfully
demonstrated to date using this technology. Other
advantages of electroadhesion include its non-damaging
nature, and lightweight, which is crucial in wall-climbing applications.http://www.sri.com/rd/electroadhesion.html

NINJA-I, -II
Quadruped Wall Climbing Robot "NINJA-I, -II"

NINJA-I (1990-1993), NINJA-II (1994-). It is dangerous to inspect
and perform all the operations on the exterior walls of high rise
buildings and of the land bridges on high speed thoroughfares.
It also requires a great deal of expense in order to install the
needed scaffolding. NINJA is a wall climbing robot developed for
the purpose of automating this kind of operation. Units No. 1 and
2 of both have a height of nearly 1.8 m , a left/right width of
0.5 meters, a thickness of 0.4 meters, and a main body weight of
45 kg. All the legs of NINJA-I, as in Fig. 2, are driven by three
prismatic joint actuators in parallel mechanisms. They are oriented
to the direction of gravity as much as possible at all times, and
manifest th e effectiveness of "coupled drive (a drive method which
plans on making high output performance as a system by
cooperatively utilizing as much as possible all actuators that are
installed)". The feet are compliant to the wall surface while being
oriented at all times in the same direction as the body by a new
parallel movement mechanism which utilizes conduit wires.
The NINJA-II expands the reachable area of this foot mechanism
by inserting articulated joints.more
Wall-Climbing Robot Spies at ICRA 2008

Stanford's Stickybot, a wall-climbing robot that uses
gecko-inspired directional adhesives on its feet. Photo:
Stanford Universitymore

-

-

-

Wall-climbing Robot 2

Terrain Robot