Development of a compact and rapid wall-climber

This paper presents a new compact and rapid wall-climber. First the compact structure of the robot is introduced, which has a pair of driving wheels and a tilt-variable thruster with a set of coaxial propellers. Next the whole dual-control system is constructed, which is composed of both the remote and autonomous control. Then basic experiments are shown concerned with the tilt angle control and the wheel's velocity control. Finally the dynamical model of the robot is derived to estimate and design the motion profiles and performance. Some important points of the motion control are discussed by simulation results using the dynamical model.