Compliant Detachment of Wall-Climbing Robot Unaffected by Adhesion State

Adhesion state is a key factor affecting the motion stability of wall-climbing robot. According to different adhesion states, there no universal method for compliant detachment. We propose an online impedance strategy controlling peeling angle realize movement. Variable motions are achieved by tuning stiffness and damping parameters proportional-derivative control, which realizes detachment with ?, strength adjust minimum basically eliminated instant change in normal at end state. The proposed controller was validated using vertical climbing results showed that, controller, sudden force during significantly reduced. Besides, correlation between Regardless can be accomplished reliably.