In order to develop a new climbing snake robot(CSR) that has rather great advantages on vertical outer climbing,this paper presents a P-R(pitch-roll)module,and with a simple structure and the function of universal joint,the module is easier to control.

The Time-optimal Control of a Wall-climbing Robot Based on the Minimum Principle;

Firstly, the paper summarizes some results on existing research and development of wall-climbing robot, and analyzes the developing trend of wall-climbing robots.

This paper presented a novel self-scramble mechanism of wall cleaning robot which was specially designed for the half-ellipsoid out-wall of the National Grand Theater of China.

A special tower climbing machine has been developed to meet the need of HV transmission line maintenance and repairing in China.