OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures

• OmniClimbers are agile robots for climbing and navigation over ferromagnetic structures.
• They are specially designed to rapidly reach any required pose on the structure.
• They use omnidirectional wheels for a good maneuverability.
• The novel central magnet grant the required normal force while keeping the friction low.
• They adapt passively to various structure material, diameter and thicknesses.

This paper introduces Omniclimber, a new climbing robot with high maneuverability for inspection of ferromagnetic flat and convex human made structures. In addition to maneuverability, adaptability to various structures with different curvatures and materials are addressed. The conceptual and detailed design of OmniClimbers are presented and two prototypes of the robot are introduced. Several laboratory and field tests are reported, and the results are discussed.