PurposeThe non‐destructive inspection of large concrete walls (e.g. dams, bridge pylons) with autonomous systems is still an unsolved problem. One of the main difficulties is to develop a very flexible platform, which is able to move and inspect horizontal and vertical surfaces safely, and which is fast and cost‐efficient. The purpose of this paper is to present a climbing robot designed with these attributes in mind.Design/methodology/approachThis paper presents the Climbing RObot with Multiple Sucking Chambers for Inspection, which is designed for inspection of concrete walls. The propulsion system consists of three omnidirectional‐driven wheels for high maneuverability. The adhesion is performed by a vacuum system of seven controllable vacuum chambers and one large reservoir chamber. Pressure sensors and valves are integrated for controlling, which allows fast reaction on changing conditions.FindingsThe comparison of simulated results and a simple prototype indicates that the developed physical model is exact enough to estimate the efficiency of the proposed adhesion mechanism. The propulsion system has been tested extensively and allows high maneuverability on reasonably flat ground.Originality/valueThis paper introduces a climbing robot which will allow higher objectivity and reproducibility of inspections as well as safe working conditions for technicians. With such a machine one can check the building via remote control or semi‐autonomously.

Safe and cost-efficient inspection of large concrete buildings is a great challenge for mobile robots. This paper presents the locomotion system of the climbing robot, CROMSCI, which uses three steerable standard wheels and negative pressure adhesion. We will introduce criteria to avoid robot slip and tilt, and methods to enhance stability. One elementary part is the close-loop-controlled adhesion system with seven individual negative pressure chambers to balance out tilt or dynamic effects caused by leaky pressure chambers. The second part is the locomotion control using a special traction control mechanism to enhance robot navigation, which will also be presented here.

Abstract-This paper describes the thermodynamical model of a vacuum system for a climbing robot. Based on this model a simulation system is described, which is used to evaluate the influence of leakage situations on the adhesion system and to test control approaches. As a validation of the simulation parameters and the adhesion strategy a test platform was constructed and tested on concrete walls.

The non-destructive inspection of large concrete walls via robotic systems is no longer an unsolved problem. This paper will present first results with the climbing prototype Cromsci which uses a vacuum system of seven controllable vacuum chambers and an omnidirectional drive to move and cling to vertical concrete surfaces. This platform is able to move and inspect vertical surfaces safely, fast and cost-efficient. The technician can check the building more safe without any telescopic crane or other complex access devices via remote control or semi-autonomously.

Summary. This paper presents a practical course that introduces students to the development and construction of a mobile robotic system. Using a wheeled climbing robot for metallic walls as an example, the course aims at teaching practical skills in engineering as well as developing soft skills like project management and teamwork. To increase motivation and allow the construction of a working system in the limited time available during one university term, the students are provided with several pre-made components and software tools. In the paper, the general structure of the course is presented and the different deliverables are detailed along with the supplied components. The paper ends with some example designs students came up with during the first time that the course was held in winter 2003/04 and an evaluation of the learning effect that was achieved.