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Robotics 2016, 5(3), 14; doi:10.3390/robotics5030014

A Survey of Wall Climbing Robots: Recent Advances and Challenges

1
SUTD-JTC Industrial Infrastructure Innovation Centre, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore
2
Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore
*
Author to whom correspondence should be addressed.
Academic Editor: Huosheng Hu
Received: 22 March 2016 / Revised: 18 June 2016 / Accepted: 27 June 2016 / Published: 1 July 2016
View Full-Text   |   Download PDF [222 KB, uploaded 1 July 2016]

Abstract

In recent decades, skyscrapers, as represented by the Burj Khalifa in Dubai and Shanghai Tower in Shanghai, have been built due to the improvements of construction technologies. Even in such newfangled skyscrapers, the façades are generally cleaned by humans. Wall climbing robots, which are capable of climbing up vertical surfaces, ceilings and roofs, are expected to replace the manual workforce in façade cleaning works, which is both hazardous and laborious work. Such tasks require these robotic platforms to possess high levels of adaptability and flexibility. This paper presents a detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use. This paper concludes by expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass façade cleaning robot towards facilitating targeted future research with clear technical goals and well-defined design trade-off boundaries. View Full-Text
Keywords: wall climbing robot; façade cleaning robot; nested reconfigurable design principle wall climbing robot; façade cleaning robot; nested reconfigurable design principle
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Nansai, S.; Mohan, R.E. A Survey of Wall Climbing Robots: Recent Advances and Challenges. Robotics 2016, 5, 14.

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