VertiPaw: Development of a Vertical Climbing Robot with Adaptive Suction and Suspension Foot Design for Infastructure Monitoring

Infrastructure inspection, especially for wind turbines, skyscrapers, bridges, and dams, presents significant challenges due to the complexity of modern architecture and the hazardous environments involved. Current inspection methods require substantial human resources and equipment like scaffolding, cranes, and aerial lifts, which are costly and pose safety risks. Existing robotic solutions, such as drones and wheeled or tracked robots, are often limited in their ability to navigate vertical surfaces or carry significant loads. This research introduces VertiPaw, the first quadrupedal robot designed specifically for vertical climbing on various surfaces using a vacuum suction system with heavy loads. VertiPaw's adaptive spring limbs provide versatile movement on both flat and uneven surfaces, while its lightweight design ensures lower power consumption compared to similar robots. Equipped with Light Detection and Ranging (LIDAR) for precise positioning and surface detection, VertiPaw is designed to perform infrastructure inspections in difficult-to-reach areas. The system demonstrates efficient navigation across multiple surface types, including metal, concrete, and uneven walls, while maintaining stability and carrying substantial loads. VertiPaw offers enhanced adaptability, power efficiency, and safety. Its ability to perform complex tasks such as cargo movement and real-time surveillance makes it a valuable system for further development.