Method and system for controlling motion of a climbing robot

A method for controlling motion of a climbing robot, the method comprising the steps of:

• (A) receiving high-level commands from an operator by a sensory preprocessing module of a controller;
• (B) receiving sensory feedbacks comprising roll angle data from an IMU sensor installed at a body of the robot by the sensory preprocessing module of the controller;
• (C) generating basic locomotion pattern signals based on received high-level commands by a central pattern generator (CPG) of the controller to cause the robot's components including a plurality of legs, feet, bodies, and joint motors connected in series to be stretched and dragged;
• (D) amplifying the generated basic locomotion pattern signals based on received high-level commands by a velocity regulating module of the controller;
• (E) adapting the basic locomotion pattern signals to obtain adaptation commands based on received high-level commands, received sensory feedbacks, and generated basic locomotion pattern signals to adapt the locomotion of the robot by an adaptation module of the controller;
• (F) generating motor commands based on received high-level commands, obtained adaptation commands, and amplified basic locomotion pattern signals to drive a plurality of joint motors comprising a back foot twist motor, a back leg upward/downward rotating motor, a back/front body upward/downward rotating motor, a front body twist motor, a front leg upward/downward rotating motor, and a front foot twist motor by a joint motor angle determine module of the controller;
• and
• (G) generating electromagnet activate signals of the back foot and the front foot of the robot based on received high-level commands and generated basic locomotion pattern signals by an electromagnet activate module.