Experiments and simulations of wall running and transferring of a climbing robot

This paper reports experimental and simulation results of a compact wall-climbing robot. The robot has been developed with the aim to detect or repair inspections and flaws on walls. First, the mechanical structure of the robot is summarized, and the remote and autonomous control system is also described. Next, we focus on running on walls and transferring between two different walls. The experimental results are compared to the simulation results based on the dynamical model of the robot. Two proposed methods for wall transferring are experimentally verified, and these experiments have good agreements with the simulations.