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By L. Marques, A. De Almeida, M. O. Tokhi, G. S. Virk

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Muscato, "A Small Low-Cost Low-Weight Inspection Robot with Passive-Type Locomotion", Integrated Computer-Aided Engineering, Vol. 11 N. 4, pp. 339-348, 2004. 42. D. Longo, G. 874-879, Como, Italy July 2001. 43. D. Longo, G. Muscato, "Design and Control Methodologies for the Climbing Robot Alicia II", 5th International conference on Climbing and Walking Robots, CLA WAR 2002, Paris France, September 25-27, 2002. 44. D. Longo, G. Muscato, "Neural control of the climbing robot Alicia", 1st International IEEE/EURON Workshop on Advances in Service Robotics ASER 2003 , Bardolino (Verona), March 2003.

In this case the most important factor is related to the particular sealing that must be adopted between the chamber and the surface. In fact the sealing system cannot be completely hermetic, such in the case of classical suction cups of the previous category, otherwise the robot could not move, but not too weak, otherwise air leakage would be too high and a low pressure difference would result in an insufficient adhesion force. In this case an important advantage is the possibility to climb on not perfectly flat or clean walls (Fig.

Spinybot [25] and RiSE [26] are two examples of this category. Many other examples of robots adopts ropes to climb on different types of surfaces generating the adhesion force as a resultant of the vinculum reaction caused by the gravity force and the rope traction. For example the ROBOCLIMBER, developed within an European project, is an interesting example of teleoperated climbing robot for slope consolidation and landslide monitoring [27]. 4. Chemical adhesion In some case simple adhesive tape has been connected to the surface of the feet that are sequentially attached and detached from the surface.

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