Master-Slave Control of a Bio-Inspired Biped Climbing Robot

Biped climbing robot is able not only to climb a variety of media, but also to grasp and manipulate objects. It is just like a "mobile" manipulator, and it has great application prospects in high-rise tasks in agriculture, forestry, and architecture fields. Motivated by these potential applications, design of a climbing robot (Climbot) was proposed in this study, and a modular master robot, isomorphic to the Climbot was designed. Then, a master-slave robot system with joint-to-joint mapping strategy was developed, which was com-bined with the Climbot and master robot. In this system, the master robot could control the slave robot intuitively, and experiments on climbing poles were conducted to verify the feasibility and efficiency of the proposed master-slave robot system.