Abstract
Effective adaptive grasping capability is regarded as crucial for climbing robots. However, many dry adhesion legged climbing robots are primarily focused on mobility and load capacity to perform various climbing tasks, often overlooking their operational grasping abilities. Furthermore, flexible grippers designed for adaptive grasping are typically not capable of supporting autonomous climbing or perching motions; they must be rigidly integrated with legged climbing robots, which results in increased weight and reduced load capacity. To address this challenge, a novel dry adhesion climbing robot, MST-G, is proposed, featuring autonomous climbing, perching, and flexible adaptive grasping capabilities. During operation, MST-G is integrated with a legged climbing robot to perform tasks, but can autonomously climb when no task is present, thereby reducing load and ensuring stable motion. Additionally, a robust controller based on prescribed performance is introduced and tested on MST-G, which limits the joint tracking error to a prescribed safety limit, ensuring that motion trajectories can be executed safely and reliably.