The Graspable Algorithm for a Wall-Climbing Robot with Claws

Wall-climbing robots have been widely used in the inspection of smooth walls. However, no satisfactory adhesion methods have been developed for robots that will allow them to climb rough walls. This paper proposes a suitable adhesion method that employs grappling-hook-like claws arranged in a cross shape. First, we address the implementation mechanism required. Then, a method of extracting the parameters characterizing a rough wall is devised, and 3D profiles of rough walls simulated. A method of triangulation is proposed to judge which regions of a 3D wall can be gripped, and we subsequently present a grasping discrimination algorithm for the interaction between the miniature claws and 3D wall profile. Finally, the simulation proves the validity of the discriminant algorithm for gripping 3D walls. It provides a more reliable method of adhesion for robots on rough walls.