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11. J. A. L. Luk, "A Climbing Robot with Minimal Structure", Proc. lEE conf Control 91, March 1991, Edinburgh, pp. 813-815. 12. L. A. Collie, J. Billingsley, "Robug II: an intelligent wall climbing robot", IEEE Conference on Robotics and Automation, April 1991, Sacrtamento USA, pp. 2342-2349. 13. C. Hillenbrand, K. Berns, F. Weise, J. Koehnen, "Development of a Climbing Robot System for Non-destructive Testing of Bridges", Proceeding 8th IEEE Conference on Mechatronics and Machine Vision in Practice, 2001, Hong Kong.

Asbeck, S. Kim, M. R. Cutkosky, W. R. Provancher, and M. Lanzetta, "Scaling hard vertical surfaces with compliant microspine array", Int. 1. Rob. , 25(12): 1165-1179,2006. 26. 1. c. A. R. A. 1. E. Koditschek, "Biologically Inspired Climbing with a Hexapodal Robot", Journal of Field Robotics, 200S. 27. Cepolina, F. Maronti, M. Sanguinet, M. Zoppi, M. , "Roboclimber versus landslides: design and realization of a heavy-duty robot for teleoperated consolidation of rocky walls", IEEE Robotics and Automation Magazine, Vol.

581· 6. Conclusion If we consider a matrix when we put on one axis the nature of the adhesion force and on another the locomotion typology and inside the cells an example of a robot, the following classification can be obtained: Table I. Adhesion force type versus locomotion architecture. Pnenmatic Mechanical Chemical Electrostatic Wheeled [43] [21J [64] ?? Walking [12J [19] [25] [29] [34] Frame Walking [39] [37J [27] ?? Tracked r62] [66] ?? ?? Hyhrid [16] ?? [28] ?? Sliding ?? [41] '!? ??

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