Climbing Robots: A Survey of Technologies and Applications, Advances in Mobile Robotics

The interest in the development of climbing robots is growing rapidly. Motivations are typically to increase the operation efficiency by obviating the costly assembly of scaffolding or to protect human health and safety in hazardous tasks. Climbing robots are starting to be developed for applications ranging form cleaning to inspection of difficult to reach constructions. These robots should be capable of travelling on different types of surfaces, with varying inclinations, such as floors, walls, ceillings, and to walk between such surfaces. Furthermore, these machines should be capable of adapting and reconfiguring for various environment conditions and to be self-containde. Regarding the adhesion to the surface, they should be able to produce a secure gripping force using a light-weight mechanism. This paper presents a survey of different appplications and technologies proposed for the implementation of climbing robots.N/