Compliant Detachment of Wall-Climbing Robot Unaffected by Adhesion State

Bingcheng Wang, Xiaofeng Xiong, Jinjun Duan, Zhouyi Wang, Zhendong Dai*

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

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Adhesion state is a key factor affecting the motion stability of a wall-climbing robot. According to different adhesion states, there is no universal method for compliant detachment. We propose an online impedance strategy for controlling peeling angle to realize compliant movement. Variable compliant motions are achieved by online tuning the stiffness and damping parameters of proportional-derivative control, which realizes compliant detachment with a peeling angle of π, the adhesion strength to adjust to a minimum and basically eliminated the instant change in normal adhesion strength at the detachment end state. The proposed controller was validated using a vertical climbing robot. The results showed that, with the proposed controller, the sudden change in the normal adhesion force during peeling was significantly reduced. Besides, there is no correlation between the sudden change in the normal adhesion force at the detachment end state and the adhesion state. Regardless of the adhesion states, the compliant detachment can be accomplished reliably
Original languageEnglish
Article number5860
JournalApplied Sciences
Issue number13
Number of pages16
Publication statusPublished - 24. Jun 2021


  • Controllable peeling angle
  • Online impedance adaptation controller
  • Wall-climbing robot


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