ROMERIN– is a complex robot formed by four modular legs that can be considered as single robots. Each leg disposes of a microcontroller, where the information about itself is contained. From the control system, it is possible to contact all these legs (whose name is unique) and send commands to them. The control system is under development; however, the robot can turn on the motors’ torque and the suction cup motor. In the following pictures, the robot was attached to the roof, while keeping 70% of the suction cup force (safety percentage).
In all cases, the robot has been secured using a rope to a tab on the body. So, it was tested also in the walls, where the system is more vulnerable.