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The paper sums up results achieved during in the last few years of the development and research of service robots aiming their use for service applications on vertically oriented walls with predominantly smooth contact surfaces having minimal altitude unevenesses within the range ± 5 mm. Two robot generations are described step by step, and both of them use the same mechanical principle of the patented system of motion. The system uses the intermittent motion when positions of the robot legs and body alternate cyclically, and the appropriate gripping force of a holding-down system is realized by vacuum. As compared with the first version, the current one allows legs to move independent in part. In that way it is possible to compensate better variations of parallelism between a contact plane of the robot holding-down system and a vertical wall. Moreover, the robot is provided with a rotary unit making possible a rotation on the axis going through the robot center and being perpendicular to the contact plane, which guarantees a change in the robot orientation in the plane. As for drives, very compact rotary actuating mechanisms (servo drives) are used, having a high ratio of power parameters in relation to weight and dimensions, combined with a control based on an industrial PC.