Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review.

Climbing robots are designed to conduct tasks that may be dangerous for humans working at height. In addition to improving safety, they can also increase task efficiency and reduce labor costs. They are widely used for bridge inspection, high-rise building cleaning, fruit picking, high-altitude rescue, and military reconnaissance. In addition to climbing, these robots need to carry tools to complete their tasks. Hence, their design and development are more challenging than those of most other robots. This paper analyzes and compares the past decade's design and development of climbing robots that can ascend vertical structures such as rods, cables, walls, and trees. Firstly, the main research fields and basic design requirements of climbing robots are introduced, and then the advantages and disadvantages of six key technologies are summarized, namely, conceptual design, adhesion methods, locomotion modes, safety mechanisms, control methods, and operational tools. Finally, the remaining challenges in research on climbing robots are briefly discussed and future research directions are highlighted. This paper provides a scientific reference for researchers engaged in the study of climbing robots.