Abstract
Different industrial sectors such as shipmaking, construction and others perform a lot of highly dangerous manual operations related with the inspection, assembly, etc. An important part of these operations is performed in large size environments formed by metallic structures. This paper deals with the design and development of the ROMA robot which is able to self-support its locomotion system for the autonomous 3D movement in complex environment using the "insect" concept. During this motion the robot generates in real-time the path and grasp planning in order to ensure stable self-support and avoid the environments obstacles.
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