Roboclimb
Autonomous climbing robot for structural inspection — locomotion along vertical surfaces with sensor payloads for crack and corrosion surveys.
Problem
Tower and silo inspections put humans in harnesses for hours. Roboclimb prototypes a climbing platform that carries cameras and contact sensors along steel or concrete faces, logging defects with position metadata.
What it covers
- Climbing gait planner for uniform and ribbed surfaces
- Onboard IMU and encoder fusion for pose estimation
- Sensor payload mounts for visual and contact inspection
- Mission log with height-indexed defect markers
bool advanceGait(ClimberState& state) {
if (!vacuumSealOk(state.activePads)) return false;
releasePads(state.liftGroup);
translateBody(kStepMm);
engagePads(state.liftGroup);
state.heightMm += kStepMm;
return true;
}