Magnecko: Design and Control of a Quadrupedal Magnetic Climbing Robot

Abstract

Climbing robots hold significant promise for applications such as industrial inspection and maintenance, particularly in hazardous or hard-to-reach environments. This paper describes the quadrupedal climbing robot Magnecko, developed with the major goal of providing a research platform for legged climbing locomotion. With its 12 actuated degrees of freedom arranged in an insect-style joint configuration, Magnecko’s high manipulability and high range of motion allow it to handle challenging environments like overcoming concave 90 ° corners. A model predictive controller enables Magnecko to crawl on the ground, on horizontal overhangs, and on vertical walls. Thanks to the custom actuators and the electro-permanent magnets that are used for adhesion on ferrous surfaces, the system is powerful enough to carry additional payloads of at least 65 % of its own weight in all orientations. The Magnecko platform serves as a foundation for climbing locomotion in complex three-dimensional environments.