Advancing Legged Wall Climbing Robot Performance Through Dynamic Contact-Integrated Climbing Model

Abstract

Climbing robots have gained significance in hazardous and steep terrains, yet adapting to complex environments remains a challenge. Inspired by nature's climbers, this paper introduces a climbing dynamics model that integrates foot-end contact forces, crucial for safe and efficient wall climbing. Drawing insights from animal locomotion and biomechanics, we present a comprehensive dynamic model for quadruped robots. Our model, built upon multibody dynamics and a dynamic contact model based on spiny claw mechanisms, accurately simulates robot forces and motion during climbing, even predicting failure scenarios. Experimental validation further establishes model accuracy. This study advances climbing robot research by addressing attachment interaction dynamics and provides valuable insights for optimizing robot structural design and gait strategies.