Design and Realization of a Bio-inspired Wall Climbing Robot for Rough Wall Surfaces

  • Jinfu Liu
  • Linsen XuEmail author
  • Shouqi Chen
  • Hong Xu
  • Gaoxin Cheng
  • Tao Li
  • Qingfeng Yang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11741)


As a special robot in extreme environment, wall-climbing robot can be used in bridge detection, signal collection, disaster search and rescue, and mine inspection. However, existing wall-climbing robots can only climb on one or several kinds of wall surfaces carrying a lighter load. Inspired by the structure characteristics of flies and clingfish, a wall-climbing robot with microspines and suction cup is proposed. Microspines are beneficial to the contact between the hook tip and the wall surface. Suction cup including flexible skirt edge and high-speed eddy fans, can avoid the robot overturning due to failing in the gripping. In addition, the relationships of adsorption force and pressure versus the distance between suction cup and wall surface are measured. Furthermore, the kinematic of robot is analyzed and the force of wall to the robot and motor torque are evaluated respectively. Finally, the prototype of the wall-climbing robot is manufactured and tested on a variety of rough wall surfaces, and the experimental results show that the robot climbs stably with a larger load.


Wall-climbing robot Microspines Suction cup Flexible skirt edge 



This work was supported by grants from Science and Technology Major Project of Anhui Province (17030901034), Jiangsu Key Research and Development Plan (BE2017067).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Jinfu Liu
    • 1
    • 2
  • Linsen Xu
    • 1
    • 3
    Email author
  • Shouqi Chen
    • 2
  • Hong Xu
    • 2
  • Gaoxin Cheng
    • 2
  • Tao Li
    • 1
  • Qingfeng Yang
    • 1
  1. 1.Institute of Advanced Manufacturing TechnologyHefei Institutes of Physical Science, CASHefeiChina
  2. 2.University of Science and Technology of ChinaHefeiChina
  3. 3.Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot TechnologyHefeiChina

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