Gait Programming for Multi-Legged Robot Climbing on Walls and Ceilings

Abstract

Abstract Wall-climbing gait programming is one of the basic issues for the multi-legged robot working on vertical walls and ceilings. In this paper, the authors propose geometric measurements related to support patterns to describe the overturn-resistance capability for multi-legged robots climbing on vertical walls and on ceilings. Employing optimization approaches, optimal regular periodic wall gaits are computed for a six-legged robot climbing vertically or horizontally, and optimal ceiling gaits are also obtained. Comparisons are made for crab-type and insect-type leg-stroke layouts.