A Dynamic Single Actuator Vertical Climbing Robot

Abstract — A climbing robot mechanism is introduced, which uses dynamic movements to climb between two parallel vertical walls. This robot relies on its own internal dynamic motions to gain height, unlike previous mechanisms which are quasistatic. One benefit of dynamics is that it allows climbing with only a single actuated degree of freedom. We show with analysis, simulations and experiments that this dynamic robot is capable of climbing vertically between parallel walls. We introduce simplifications that enable us to obtain closed form approximations of the robot motion. Furthermore, this provides us with some design considerations and insights into the mechanism’s ability to climb. I