A spider-like robot that climbs vertically in ducts or pipes

Different implementations of remote controlled robots with wheels or stepping mechanisms are in use that can inspect and repair the interior of a pipe or duct. However, autonomous locomotion in complex shaped hollows with corners, steps and branches remains a major challenge. This paper describes a robot with articulated legs that opens up the possibility of servicing complex pipe systems. To solve the pipe climbing task autonomously, the robot has a hierarchical control architecture with reflexive and reactive behaviour. Experiments were carried out in a 2D simulation as well as with an eight-legged robot test-bed. The experiments show the physical feasibility of such a robot, and that it is possible to achieve a robust, safe and powerful operation using reflexive and reactive behaviour