Motion control of a wall climbing robot with coaxial propeller thruster

This paper reports the motion control of a wall climbing robot. The robot has a pair of driving wheels and a coaxial propeller thruster. Two wheels are used for running on walls, and the thruster located on a gimbal mechanism is controlled corresponding to the orientation of the robot and the slope angle of the wall. The orientation control of the gimbal mechanism is newly proposed, and is experimentally verified as to the spinning motion and translational motion of the robot on a slope.