SAFARI inspection robot motion strategy

This paper presents the motion strategy of a wall-climbing inspection robot SAFARI. An algorithm of the robot's leg movement is described. The movement sequence is chosen autonomously by the robot, respecting geometrical constraints of its construction. Robot behavior in emergency situations when any of the legs cannot be sealed on a movement surface is also described. Direct and inverse kinematics for the SAFARI robot are presented. Then, another approach, named vector formulation of kinematics, is presented. Finally, we describe software supervision of the robot's states, supporting an operator in monitoring of the robot's functioning.