Abstract
We have developed two robot proto types for climbing and monitoring concrete structures. One type has a taping system for impact acoustic. The other has a video camera for remote visual inspection. These inspection robots adhere to concrete structures using two sets of suction cups, and ascend by alternating movements of the two sets of suction cups. These robots can inspect concrete walls and bridge supports. The wall conditions affect the adhesion reliability of the robots. We tested the influence of grooves on walls on the adhesion forces, and we determined the application limits when climbing walls with grooves.
