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A wall-climbing robot intended for inspection in nuclear power plants has been developed. The robot, small in size and modular, is made up of pneumatic components exclusively. Vacuum suction cups are used for sticking the robot to walls to be climbed. The robot motion, made up of both elementary translations and rotations, are accomplished by means of flexible pneumatic cylinders of rubber, which constitute the body of the mobile robot. A personal computer is used to command robot motion and a microprocessor controls the electronic valves of all pneumatic components. The paper presents the robotic system conceptual design and gives a detailed description of the mobile robot and its motion.>
Briones et al. (Tue,) studied this question.