Research and Optimization of a Spider-Legged Robot on Vertical Walls Based on Spider-Leg Bionics and Viscosity Compensation

Spider-legged robots are intelligent mechanical devices that can control their movement and speed by adjusting their morphology and gait, but most spider-legged robots can only move on the horizontal or inclined surfaces with small angles. To address this problem, an optimization scheme for spider-legged robots is proposed. A special vertical wall-climbing alternating gait is designed for the spider-legged robot, so that it has two stable diagonal support points at any time during its movement on the wall. At the same time, the robot is equipped with viscositycompensated viscous negative pressure suction cups that can be stably adhered on rough or grooved wall surfaces at large angles or even vertically. The physical assembly test shows that the spider-legged robot can be stably suspended and supported during vertical movement, and can stably cross the obstacle height required by the design, and stably adsorb and move freely on the rough or grooved vertical wall surface.