Journal of Bionic Engineering (2022) 19:877–901 https://doi.org/10.1007/s42235-022-00189-x

Design and Technical Development of Wall-Climbing Robots: A Review 

Yi Fang1  · Shuai Wang2  · Qiushi Bi1  · Da Cui1  · Chuliang Yan1 

1 School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China 

2 State Key Laboratory of Internet of Things for Smart City and Department of Electrical and Computer Engineering, University of Macau, Macao 999078, China

Abstract Once working at heights is dangerous, it is a signifcant accident. These accidents brought substantial economic losses and caused a large number of casualties. Therefore, it is essential to use wall-climbing robots to replace manual work at heights. The design of the wall-climbing robot is inspired by the climbing action of insects or animals. An intelligent bionic robot device can carry special equipment to operate on the wall and perform some dangerous operations instead of frefghters or inspection personnel more efciently. The scope of application is vast. This paper frstly summarizes the research progress of wall-climbing robots with three diferent moving methods: wheel-climbing, crawler-based, and leg-footed robots; summarizes the applications and breakthroughs of four adsorption technologies: negative pressure, magnetic force, bionic and electrostatic; discusses the application of motion control algorithms in wall-climbing robots. Secondly, the advantages and disadvantages of diferent migration modes and adsorption methods are pointed out. The distribution and advantages of the combined application of diferent migration modes and adsorption methods are analyzed. In addition, the future development trend of wall-climbing robots and the promoting efect of bionic technology development on wall-climbing robots are proposed. The content of this paper will provide helpful guidance for the research of wall-climbing robots.

Keywords Wall-climbing robot · Walking method · Adsorption technology · Motion control technology · Bionic