The inspection of high ceilings or surfaces is important to ensure the quality and safety of infrastructure; however, the approach adopted by people or conventional robots is rather limited.Kinodynamic constraints (simultaneous kinematic and 2 Pack Tables dynamic constraints) are presented by obstacles in real-life scenarios, such as suspended piping and wiring, which further limits the usability of robots.Therefore, this paper proposed an adhesion robot system that is attached to and maneuvers on flat and curved ceilings while traversing obstructions.



To traverse obstacles, the robot comprises two units connected by a passive hinge mechanism.Traversal motion is achieved under adhesion force control with preexisting electric ducted fans without using separate hinge motors; thus, no Parts additional weight is included.In addition to robot hardware, this study investigated the development of a control method based on dynamic analysis under the aforementioned kinodynamic constraints.



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Specifically, the proposed control algorithm considers the slipping and rollover conditions of the robot caused by the external force and moment applied to the unit during the obstacle traversal, respectively.The algorithm was systematically analyzed by conducting simulations to prevent the robot from experiencing adhesion failure, and the results were verified experimentally.The use of the robot in real-life scenarios was determined by performing feasibility tests in real-life applications.