Abstract
This paper presents some of the developments made in the construction of a modular climbing robot for infrastructure inspection. The development and optimization of independent vacuum generator systems for each leg is presented, with the flow-rate taking priority over the relative pressure. It also describes the general robot structure, as well as the initial mathematical models required for the development of a control system based on an biomimetic organic model. Finally, it is highlighted the use of simulators to help the iterative design process of a strongly mechatronic system. Some of the obtained results have been experimentally validated.
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