Preliminary analysis of a legged robot designed to climb vertical surfaces

This paper presents the kinematic analysis of a hexapod climbing robot relying on the use of dry adhesion. Kinematics equations are validated in both multi-body software simulation and robotic platform test. A particular trajectory of the legs, conceived to minimize force required to detach the robotic feet from a vertical wall, is proposed and tested. Further study is performed based on data acquired by forces exerted on the tip of each robotic leg during locomotion. Experimental results proved the correctness of kinematic analysis and its potential use for optimizing gait and adhesion features during wall climbing.