The superior mobility and function of W-Climbot illustrated by experiments

W-Climbot is an inchworm-like biped wall-climbing robot we developed with a modular approach. Consisting of five joint modules and two suction modules, the robot is actually a mobile 5-DoF arm with dual end-effectors at the two ends. With this kinematic structure and biped climbing mode, W-Climbot has superior wall-climbing function (e.g., great ability to omni-directional locomotion, to negotiate obstacles on the walls, and to transit between walls, etc) and potential manipulation function.