Design of wall climbing robots with transition capability

This paper presents the ongoing work and technical achievement in developing novel robots which can achieve quick motion on various wall surfaces and wall-to-wall transitions. Various aspects in mechanical design are discussed in detail, including adhesion mechanism, locomotion and transition mechanisms. ARM-based control system is also described which can make the robots operated manually and autonomously. Several prototype robots are introduced to verify the design concepts. Future directions to improve the design are elaborated.