One of the key factors that affect the efficiency and scope of work of wall-climbing robots is how the climbing robot can achieve autonomous transition between adjacent vertical planes. This paper studies the problem of ground-wall transition of a self-developed suctorial wall-climbing hexapod robot (WelCH). In view of the feasibility of the robot performing transition, this paper makes a detailed analysis of the number and property of degrees of freedom (DOFs) of the body and the foot based on reciprocal screw theory, and the results show that the robot can achieve transitional motion only when its home configuration is axisymmetric rather than radially symmetric. For realizing the robot’s ground-wall transition, based on a Sinusoid-Sigmoid-Shaped (SS-Shaped) interpolation function, the motion strategies of foot transferring and body pitching are firstly designed in detail. This interpolation method can effectively avoid the wear of the suction cups by relying on fewer essential path points. Then, the saturation-truncated method and mean filtering method are used to deal with joint constraints and abrupt changes in angular velocities. Finally, a kinematic-based adaptive sliding mode control (ASMC) is adapted to track the planned smooth trajectory, which can effectively resist bounded external disturbances. The successful transitions from the horizontal ground to the vertical wall for the robot WelCH in simulation and filed experiment demonstrate the effectiveness of the proposed strategy.

影响攀岩机器人效率和工作范围的关键因素之一是攀岩机器人如何在相邻垂直平面之间实现自主过渡。本文研究了自行开发的壁爬式六足机器人（WelCH）的地壁过渡问题。鉴于机器人进行过渡的可行性，本文基于对等螺旋理论对人体和足部的自由度（DOF）的数量和性质进行了详细分析，结果表明该机器人可以实现仅当其原始配置为轴对称而不是径向对称时才进行过渡运动。为了基于Sinusoid-Sigmoid-Shaped（SS-Shaped）插值函数实现机器人的地面过渡，首先详细设计了脚转移和身体俯仰的运动策略。这种插值方法可以依靠更少的基本路径点来有效避免吸盘的磨损。然后，采用饱和截断法和均值滤波法处理联合约束和角速度的突然变化。最后，基于运动学的自适应滑模控制（ASMC）用于跟踪计划的平滑轨迹，可以有效地抵抗有界的外部干扰。WelCH机器人在模拟和现场实验中成功地从水平地面过渡到垂直墙壁，证明了该策略的有效性。这种插值方法可以依靠更少的基本路径点来有效避免吸盘的磨损。然后，采用饱和截断法和均值滤波法处理联合约束和角速度的突然变化。最后，基于运动学的自适应滑模控制（ASMC）用于跟踪计划的平滑轨迹，可以有效地抵抗有界的外部干扰。WelCH机器人在模拟和现场实验中成功地从水平地面过渡到垂直墙壁，证明了该策略的有效性。这种插值方法可以依靠更少的基本路径点来有效避免吸盘的磨损。然后，采用饱和截断法和均值滤波法处理联合约束和角速度的突然变化。最后，基于运动学的自适应滑模控制（ASMC）用于跟踪计划的平滑轨迹，可以有效地抵抗有界的外部干扰。WelCH机器人在模拟和现场实验中成功地从水平地面过渡到垂直墙壁，证明了该策略的有效性。基于运动学的自适应滑模控制（ASMC）可以跟踪计划的平滑轨迹，从而可以有效地抵抗有限的外部干扰。WelCH机器人在模拟和现场实验中成功地从水平地面过渡到垂直墙壁，证明了该策略的有效性。基于运动学的自适应滑模控制（ASMC）可以跟踪计划的平滑轨迹，从而可以有效地抵抗有限的外部干扰。WelCH机器人在模拟和现场实验中成功地从水平地面过渡到垂直墙壁，证明了该策略的有效性。