A High-Payload Wall-Climbing Robot Using Passive Bistable Suction Cups

2026 IEEE International Conference on Robotics & Automation (ICRA)

Andrew Nguyen1, Mingyuan Li1, Daniel Bruder1

1 FREE Lab · Mechanical Engineering · University of Michigan

Paper Video
TL;DR: Passive bistable suction cups generate strong adhesion without continuous power or large application forces. A tracked robot automatically engages and disengages the cups, climbs smooth surfaces in multiple orientations, and can carry an additional 7.940 kg payload at a 2.25 payload-to-weight ratio.

Abstract

Wall-climbing robots capable of scaling vertical surfaces could help automate hazardous or labor intensive tasks such as window washing, inspection, maintenance, and construction. Active adhesion methods achieve higher payload capacities, but require power to maintain their grip. Passive adhesion devices such as suction cups are an attractive option for such robots because they do not require power to maintain their grip, but they are limited by their payload capacity. This work presents a novel high-payload wall-climbing robot that utilizes passive bistable suction cups to generate adhesion without needing to be pushed into the wall. The robot features a track-based system that automatically engages and disengages bistable suction cups to achieve locomotion on smooth surfaces. The robot is able to achieve vertical wall climbing on glass, wood, metal, and painted surfaces, sideways and upside-down climbing, and is able to tow a payload of 7.940 kg (with a payload-to-weight ratio of 2.25).

1. Suction Cup & Robot Design

Suction Cup

Robot Design

2. Climbing on different surfaces

The robot climbs across a range of doors, walls, and other smooth or textured surfaces using passive bistable suction-cup adhesion.

Wood door

Painted wall

Steel door

Glass wall

3. Climbing results

These demonstrations show climbing on whiteboards, inverted surfaces, and while carrying additional payload.

Cleaning whiteboard

Upside-down climbing

Payload capacity (7.940kg)

Top-to-bottom climbing

Citation

@article{nguyen2026highpayload,
          title  = {A High-Payload Wall-Climbing Robot Using Passive Bistable Suction Cups},
          author = {Andrew Nguyen and Mingyuan Li and Daniel Bruder},
          journal = {arXiv preprint arXiv:2609.21584},
          year   = {2026},
          doi    = {10.48550/arXiv.2609.21584},
          url    = {https://arxiv.org/abs/2609.21584}
}