Twist-based Crouching Motion for Multi-Legged Inspection Robot

The monitoring and inspection of the condition of buildings, towers, or large chemical tanks have been dangerous for workers. Also, these processes can also be very costly. A wall climbing multi-legged robot can be used to tackle the problem stated. The robot has to alternatively climb and crouch to move the inspection probe close to the wall surface. The typical wall-sticking crouching motion of hexapods could not do this without an additional actuator at the foot base. This paper proposes a new crouching mechanism using the twisting action of the robot legs. The mathematical model of the twisting crouch is introduced and A prototype test has been done to confirm the validity of the proposed concept.