【文章內(nèi)容簡介】 ied on the foot pads. In addition, the design provides the robot with the ability to review its gripping strength in order to achieve and maintain a high degree of reliability in its attachment to the wall. An experimental robot was built to validate the model and its motion algorithm. Experiments demonstrate the high reliability of the special gripping device and the efficiency of the motion planning algorithm. Keywords:Climbing， Robot， Claws， Motion， Algorithm 1. Introduction This paper considers the design and motion planning of a robot with the ability to climb on vertical surfaces. Such a capability significantly increases robot mobility and workspace and has important military and civilian advantages. As part of the design goals, it was posited that the robot should be able to move in an autonomous and reliable way. Moreover, the robot should be 15 small, pact and easy to carry for oneman operation. To conduct its missions, the robot must also be able to remain statically attached to the wall with no energy consumption. To achieve these design goals, a robot was designed and developed that mimics the kinematics of a human rock climber who uses four limbs to climb and implements the method used by cats to climb on trees utilizing their claws. The robot that was designed is termed CLIBO (claw inspired robot). A robot prototype was constructed for the purpose of demonstrating our concept. Using a kinematics model, the lootion algorithm that was developed as part of this work bines control of the four legs with an ability to utilize smart actuators. Our experimental results with CLIBO have shown that reliable wallclimbing is feasible. The unique design of the robot provides it with maneuvering capabilities, on the one hand, and the ability to control its position and force distribution, on the other. A robot that can vertically and autonomously move vertically along a rough surface such as stucco, offers considerable military and civilian advantages. Positioned high on a building, the robot, serving as an observation platform, could provide valuable military intelligence as well as assist in search and rescue operations. Such a robot could also be used for unmanned sweeps of hostile areas and serve as a platform for carrying firearms and explosives. In terms of civilian use, the robot could be used in construction to signal back the progress or state of various operations being implemented at dangerously high levels. The first part of this paper presents a review of the consideration in the robot’s design that led to its kinematic structure. In the second part we review the mathematical model of the robot, describing the kinematics and static model derived from its design. In Section 3 we discuss a motion planning algorithm based on grip quality measures and robot kinematics. Section 4 presents the implementation of the design and the motion planning also present here the prototype robot that has been built and discuss various wallclimbing experiments that were carried out with the prototype. 2. Robot design and analysis In order to achieve a working robot capable of climbing rough surfaces, CLIBO’s structure was developed in such a way that when activated it would mimic a rock climbing technique of climbing using four limbs. This section reviews the robot’s design, its physical structure and the kinematic and static models. 16 . Robot design The robot consists of four legs which are arranged symmetrically around the robot’s central body. Each leg has fivedegreesoffreedom (DOF). Fig. 1 describes the design of a leg. Four of the DOFs are motorized and the fifth, which is in the gripping device mounted on the tip of the leg, is a passive DOF. The first two DOFs,whose axes are perpendicular to the wall, enable the robot to move forward. These two DOFs are also responsible for controlling the attachment of the claws to the wall by pulling the endeffectors (EE),described below, down toward the floor and checking the reaction forces. The two remaining motorized DOFs whose axes are parallel to the wall’s plane are designed for determining the distance of the robot from the wall (Motor 3) and the angular constraint for the EE(Motor 4). This design of the leg provides the robot with good gait first two motors in each leg drive the robot’s the attachment of the hooks and upon determination of the distance from the wall (by Motors 3 and 4) of every leg, the robot’s movement is made by the first two motors in each leg. This movement is similar to the movement of rockclimbers who use their fingers to grasp cracks in a rock face and activate their shoulder and elbow muscles to advance. The structure of the robot allows it to move in any desired direction (360176。), by just moving 8 of its 16 , the robot can change its distance from the wall by extending its legs, to lower or raise itself in relation to the wall’s surface according to the surface condition. Consequently, this leg design has the advantage of decoupling motion in plane (parallel to the wall) and normal to the plane. An alternative leg configuration was examined. One in which the first DOF’s axis is perpendicular to the surface and the other 3 DOF’s axis are parallel to the wall’s surface. Such configuration gives advantage in climbing payload and lateral movement. However,this 17 configuration bounds the robot to operate all 4 motors while advancing. Moreover, due to the motors arrangement, the robot’s center of mass is shifted away from the wall and therefore acting to detach it.. Four actuators per leg were assembled with an EE at the tip of every leg. The EE gripping device (Fig. 2), which imitates the way cats hold objects or surfaces when climbing, is a unique device designed especially for the robot’s movement. Each device,consisting of 12 fis