VERTICAL MOTION OF MINIATURE WALKING ROBOTS. STATE OF THE PROBLEM REVIEW

The article reviews the state of art developing miniature walking robots for vertical movement due to friction forces between limbs and surface. In particular, special attention is paid - hexapods, as they have good stability cross-country ability compared other types robots, both wheeled tracked. Unlike hexapods can be fully autonomous. This makes them a potentially versatile tool solving variety tasks in different areas, such as: 1) rescue operations penetrate destroyed buildings assess condition under rubble, explore underwater spaces, generally move places where there not enough space complex maneuvers; 2) military use clear mines, used reconnaissance or surveying, while saving lives possibility complete autonomy; 3) industrial applications their maneuverability ability, hexapod become indispensable quarries construction sites are slopes, mountainous terrain, tracked cannot easily move; 4) speleology search exploration minerals inside caves, etc; 5) accident response, nuclear power industry.
 Despite long history development significant progress this area, thanks which many design solutions modernizations already known, problem small still remains unsolved.
 Existing developments usually aimed at moving on surfaces by imitating biological creatures (insects, animals, etc.), allows climb upwards an adhesive substance, grip surface with mechanical claws, etc. Magnet suction cup designs also been known time, but solution requires very powerful source universal.
 Therefore, one most promising areas research surface, since robot autonomous does require equipment additional communication (compressor, and, more importantly, able horizontal surfaces.
 At moment, several examples successful movement, review works has shown that relevant further development. achievements area give us hope future we will demonstrate effective widespread various industries science.