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A Survey of Climbing Robots: Locomotion and Adhesion

Authors
주백석Kyungmo Jung한창수홍대희
Issue Date
Apr-2010
Publisher
한국정밀공학회
Keywords
Robot; Climbing; Locomotion; Adhesion; Engineering application
Citation
International Journal of Precision Engineering and Manufacturing, v.11, no.4, pp.633 - 647
Journal Title
International Journal of Precision Engineering and Manufacturing
Volume
11
Number
4
Start Page
633
End Page
647
URI
https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/18280
ISSN
2234-7593
Abstract
Climbing robots are robotic systems to move over 2D or complex 3D environments such as walls, ceilings, roofs,and geometric structures and to conduct various tasks. They will not only replace human workers for carrying out risky tasks in hazardous environments, but also increase operational efficiency by eliminating the costly erection of scaffolding and staffing costs. Climbing robots have special characteristics and the ability to adhere to different types of 2D or 3D surfaces, move around, and carry appropriate tools and sensors to work, while self-sustaining their bodies. Therefore, the most significant criterion for designing a climbing robot is to equip it with an appropriate locomotive and adhesion mechanism for adapting to the given environmental requirements. In this paper, a classification of climbing robots and proper examples with a brief outline are presented with considerations of the locomotive and adhesion mechanisms. Also, a list of climbing robots is provided with respect to fields of application that range from cleaning tasks in the construction industry to human care systems in the biomedical service industry.
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