Purpose -The purpose of this paper is to develop a climbing cleaning robot with reasonably high productivities for vertical surfaces. Design/methodology/approach -The paper analyzes the reasons for the low productivities or unreliable work of cleaning robots for vertical surfaces. Based on this analysis, a design of a new robot is created. Pilot studies were performed of laboratory and industrial prototypes of a new robot. Findings -The paper shows that the new design provides a reliable and high-performance work of the cleaning robot for vertical surfaces. Thus, the new design provides increasing in productivities more than ten times compared with the known robot.Research limitations/implications -In this paper, it is assumed that the speed of the robot during the process of surface cleaning is constant. For future research the algorithm is proposed that automatically maintains such speed of the robot, which depends on the degree of dirtiness and is optimal for the surface to be cleaned. Practical implications -The results of the research have been used in the manufacture of the robot TITO 500 industrial prototype. Currently, the company RatioForem is implementing small-lot production of the robots TITO 500. Originality/value -A new design has been developed for a high-performance climbing robot for vertical surfaces cleaning, and algorithms for control of the robot.

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An approach for achieving reliable, built-in, high-accuracy force sensing for legged robots is presented in this paper, based on direct exploitation of the properties of a robot's mechanical structure. The proposed methodology relies on taking account of force-sensing requirements at the robot-design stage, with a view to embedding force-sensing capability within the mechanical structure of the robot itself. The test case is ROBOCLIMBER, a bulky, quadruped climbing and walking machine whose weighty legs enable it to carry out heavy-duty drilling operations. The paper shows that, with finite-element analysis of ROBOCLIMBER's mechanical configuration during the design stage, candidate positions can be selected for the placement of force transducers to measure indirectly the contact forces between the feet and the ground. Force sensors are then installed at the theoretically best positions on the mechanical structure, and several experiments are carried out to calibrate all sensors within their operational range of interest. After calibration, the built-in sensors are subjected to experimental performance evaluation, and the final best sensor option is found. The built-in force-sensing capability thus implemented is subjected to its first test of usability when it is employed to compute the actual centre of gravity of ROBOCLIMBER. The method is shown to be useful for determining variation during a gait (due to the non-negligible weight of the legs). Afterwards the force sensors are shown to be useful for controlling foot-ground interaction, and several illustrative experiments confirm the high sensitivity, reliability and accuracy of the selected approach. Lastly, the built-in sensors are used to measure groundreaction forces and to compute the zero-moment point for ROBOCLIMBER in real time, both while standing and while executing a dynamically balanced gait. KEY WORDS-Climbing and walking robots, finite-element analysis, force sensor, footground interaction, force-feedback control, zero-moment point.

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