Cupule firmly adsorbed is the foundation in the movement of the climbing robot.The sensing system on foot in micro biped climbing robot is designed

ADuC842 is used to control and gather information from infrared sensor array

curvature fiber-optic sensor

air pressure sensor

accelerometer

and transmit the information to the main controller DSP via UART after processing.Finally self-adaptive adjusting and firmly adsorbing of the cupule are realized

and gradient of the adsorb plane is obtained.