A Pin-Array Structured Climbing Robot for Stable Locomotion on Steep Rocky Terrain

Abstract

Climbing robots face significant challenges when navigating unstructured environments, where reliable attachment to irregular surfaces is critical. We present a novel mobile climbing robot equipped with compliant pin-array structured grippers that passively conform to surface irregularities, ensuring stable ground gripping without the need for complicated sensing or control. Each pin features a vertically split design, combining an elastic element with a metal spine to enable mechanical interlocking with microscale surface features. Statistical modeling and experimental validation indicate that variability in individual pin forces and contact numbers are the primary sources of grasping uncertainty. The robot demonstrated robust and stable locomotion in indoor tests on inclined walls (10-30 degrees) and in outdoor tests on natural rocky terrain. This work highlights that a design emphasizing passive compliance and mechanical redundancy provides a practical and robust solution for real-world climbing robots while minimizing control complexity.