Enhanced Mobility and Hybrid Locomotion in Modular Biped Rolling–Climbing Robots for Power Transmission Line Inspection

Abstract

The demand for robots to conduct power transmission line (PTL) inspections is increasing, replacing human intervention. While various robots have been developed for this purpose, many lack superior mobility for navigating obstacles and transitioning between lines, leading to limited inspection ranges. To address these challenges, we introduce Climbot-L, a novel biped robot employing hybrid locomotion through rolling and climbing modes achieved by a modular method. This innovative design enables Climbot-L to ascend lines in any orientation using three distinct gaits, thereby solving the subtle problem of lifting the robot onto PTLs. Furthermore, it allows for inspections from different poses. This article outlines the design methodology of the robot and assesses the reliability of both rolling and clamping onto PTLs. In particular, we propose a novel approach for analyzing and solving a new type of kinematics, where the robot base is rotary and the configuration is constrained, as in scenarios involving line transition and inspection in varying poses. The effectiveness and high mobility of Climbot-L are demonstrated through a series of experiments, establishing a framework for the development of hybrid robots for PTL inspection and sparking further discussion in this field.