{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T11:06:43Z","timestamp":1776078403949,"version":"3.50.1"},"reference-count":25,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2020,4,13]],"date-time":"2020-04-13T00:00:00Z","timestamp":1586736000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper proposes a pressing method for wall-climbing robots to prevent them from falling. In order to realize the method, the properties of the utilized suction cup are studied experimentally. Then based on the results, a guide rail is designed to distribute the attached suction cup force and implement the pressing method. A prototype of a wall-climbing robot that utilizes passive suction cups and one motor is used to demonstrate the proposed method. An experimental test-bed is designed to measure the force changes of the suction cup when the robot climbs upwards. The experimental results validate that the suction cup can completely attach to the surface by the proposed method, and demonstrate that the robot can climb upwards without falling.<\/jats:p>","DOI":"10.3390\/robotics9020026","type":"journal-article","created":{"date-parts":[[2020,4,13]],"date-time":"2020-04-13T10:41:52Z","timestamp":1586774512000},"page":"26","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":35,"title":["A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups"],"prefix":"10.3390","volume":"9","author":[{"given":"Dingxin","family":"Ge","sequence":"first","affiliation":[{"name":"Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu 525-8577, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yongchen","family":"Tang","sequence":"additional","affiliation":[{"name":"School of Intelligence and Information Engineering, Tangshan University, NO. 11 Daxue West Road, Tangshan 063000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shugen","family":"Ma","sequence":"additional","affiliation":[{"name":"Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu 525-8577, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Takahiro","family":"Matsuno","sequence":"additional","affiliation":[{"name":"Department of Robotics, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu 525-8577, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chao","family":"Ren","sequence":"additional","affiliation":[{"name":"School of Electircal Engineering and Automation, Tianjin University, NO. 92 Weijin Road, Nankai District, Tianjin 300072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,4,13]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Yoshida, Y., and Ma, S. (2011, January 7\u201311). A Wall-Climbing Robot without any Active Suction Mechanisms. Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics, Phuket, Thailand.","DOI":"10.1109\/ROBIO.2011.6181587"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"330","DOI":"10.1109\/TMECH.2007.897277","article-title":"Waalbot: An Agile Small-Scale Wall-Climbing Robot Utilizing Dry Elastomer Adhesives","volume":"12","author":"Murphy","year":"2007","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Nansai, S., and Mohan, R.E. (2016). A Survey of Wall Climbing Robots: Recent Advances and Challenges. Robotics, 5.","DOI":"10.3390\/robotics5030014"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Zhang, F., Sun, X., Li, Z., Mohsin, I., Wei, Y., and He, K. (2020). Influence of Processing Parameters on Coating Removal for High Pressure Water Jet Technology Based on Wall-Climbing Robot. Appl. Sci., 10.","DOI":"10.3390\/app10051862"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Chen, X., Wu, Y., Hao, H., Shi, H., and Huang, H. (2019). Tracked Wall-Climbing Robot for Calibration of Large Vertical Metal Tanks. Appl. Sci., 9.","DOI":"10.3390\/app9132671"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Murphy, M., Tso, W., Tanzini, M., and Sitti, M. (2006, January 9\u201315). Waalbot: An Agile Small-Scale Wall-Climbing Robot Utilizing Pressure Sensitive Adhesives. Proceedings of the 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems, Beijing, China.","DOI":"10.1109\/IROS.2006.282578"},{"key":"ref_7","unstructured":"Seo, T., and Sitti, M. (2011, January 9\u201313). Under-Actuated Tank-Like Climbing Robot with Various Transitioning Capabilities. Proceedings of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"436","DOI":"10.1016\/j.mechatronics.2014.04.003","article-title":"Analysis and Application of Dual-Row Omnidirectional Wheels for Climbing Robots","volume":"24","author":"Tavakoli","year":"2014","journal-title":"Mechatronics"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"616","DOI":"10.1016\/j.robot.2013.02.004","article-title":"Design and Control of a Climbing Robot Based on Hot Melt Adhesion","volume":"61","author":"Osswald","year":"2013","journal-title":"Robot. Auton. Syst."},{"key":"ref_10","first-page":"65","article-title":"Smooth Vertical Surface Climbing With Directional Adhesion","volume":"24","author":"Kim","year":"2008","journal-title":"IEEE Trans. Mechatron."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"643","DOI":"10.1017\/S0263574704000517","article-title":"Development and applications of wall-climbing robots with a single suction cup","volume":"22","author":"Zhao","year":"2004","journal-title":"Robotica"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1017\/S0263574701003964","article-title":"A wall-climbing robot for labelling scale of oil tanks volume","volume":"20","author":"Xu","year":"2002","journal-title":"Robotica"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Seriani, S., Scalera, L., Caruso, M., Gasparetto, A., and Gallina, P. (2019). Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems. Robotics, 8.","DOI":"10.3390\/robotics8020041"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1017\/S0263574711000373","article-title":"Abigaille II: Toward the development of a spider-inspired climbing robot","volume":"30","author":"Li","year":"2012","journal-title":"Robotica"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"897","DOI":"10.1109\/TMECH.2010.2053379","article-title":"ROCR: An Energy-Efficient Dynamic Wall-Climbing Robot","volume":"16","author":"Provancher","year":"2011","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1490","DOI":"10.1007\/s12206-008-0413-x","article-title":"Development of a Wall-Climbing Robot Using a Tracked Wheel Mechanism","volume":"22","author":"Kim","year":"2008","journal-title":"J. Mech. Sci. Technol."},{"key":"ref_17","unstructured":"Shen, W., Gu, J., and Shen, Y. (August, January 29). Proposed Wall-Climbing Robot with Permanent Magnetic Tracks for Inspecting Oil Tanks. Proceedings of the IEEE International Conference on Mechatronics and Automation, Niagara Falls, ON, Canada."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Daltorio, K., Wei, T., Gorb, S., Ritzmann, R., and Quinn, R. (2007, January 10\u201314). Passive Foot Design and Contact Area Analysis for Climbing Mini-Whegs. Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Roma, Italy.","DOI":"10.1109\/ROBOT.2007.363160"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Liu, J., Xu, L., Chen, S., Xu, H., Cheng, G., and Xu, J. (2020). Development of a Bio-inspired Wall-Climbing Robot Composed of Spine Wheels, Adhesive Belts and Eddy Suction Cup. Robotica, 1\u201320.","DOI":"10.1017\/S026357471900184X"},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"1553","DOI":"10.1017\/S0263574714002446","article-title":"A caterpillar climbing robot with spine claws and compliant structural modules","volume":"34","author":"Wang","year":"2016","journal-title":"Robotica"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Nansai, S., Onodera, K., Veerajagadheswar, P., Rajesh Elara, M., and Iwase, M. (2018). Design and Experiment of a Novel Fa\u00e7ade Cleaning Robot with a Biped Mechanism. Appl. Sci., 8.","DOI":"10.3390\/app8122398"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"991","DOI":"10.1017\/S0263574711000294","article-title":"Omnidirectional locomotion and traction control of the wheel-driven, wall-climbing robot","volume":"29","author":"Schmidt","year":"2011","journal-title":"Robotica"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Kim, T., Seo, K., Kim, J., and Kim, H.S. (2014, January 8\u201311). Adaptive impedance control of a cleaning unit for a novel wall-climbing mobile robotic platform (ROPE RIDE). Proceedings of the 2014 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, Besacon, France.","DOI":"10.1109\/AIM.2014.6878210"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"1075","DOI":"10.1017\/S0263574711000257","article-title":"TRIPILLAR: A miniature magnetic caterpillar climbing robot with plane transition ability","volume":"29","author":"Schoeneich","year":"2011","journal-title":"Robotica"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Ge, D., Ren, C., Matsuno, T., and Ma, S. (2016, January 9\u201314). Guide Rail Design for a Passive Suction Cup based Wall-Climbing Robot. Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robotics and Systems (IROS), Daejeon, Korea.","DOI":"10.1109\/IROS.2016.7759850"}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/9\/2\/26\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T13:44:50Z","timestamp":1760363090000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/9\/2\/26"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,4,13]]},"references-count":25,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2020,6]]}},"alternative-id":["robotics9020026"],"URL":"https:\/\/doi.org\/10.3390\/robotics9020026","relation":{},"ISSN":["2218-6581"],"issn-type":[{"value":"2218-6581","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,4,13]]}}}