Motivation
Many climbing robots are specialized for a certain substrate like glass-like Stickybot [20] (suction mechanisms or adhesive mechanisms) or porous substrates like Spinybot [21] (claw-like mechanisms). Thus, these robots are often expensive mechatronical systems. One possibility to gain more flexibility in application and to reduce costs is to modularize such systems. On the one hand we have to achieve high flexibility in application, but on the other hand we need a high performance robotic system. A major challenge is to do the step from specialists to generalists in climbing robots.
Common goals for mobile robots are locomotion, ideomotion, manipulation, navigation, orientation, imitation, and cooperation. For a climbing robot, the demand in locomotion is high locomotion ability. Climbing is locomotion by generation of directed body motion and of substrate contact in alternating combination. The robot has to move horizontally and vertically, ascending and descending – an interesting challenge for biologically inspired robotics.
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Mämpel, J., Eisold, R., Kempf, W., Schilling, C., Witte, H. (2009). A Modular Concept for a Biologically Inspired Robot. In: Kozłowski, K.R. (eds) Robot Motion and Control 2009. Lecture Notes in Control and Information Sciences, vol 396. Springer, London. https://doi.org/10.1007/978-1-84882-985-5_36
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