A moving robot has at least one surface wave transducer or a transmitter and receiver, to identify defects on or in a surface on which the robot moves, and provide data indicative of the location, size and/or orientation of the defects from robot position data.

A suction traveling device includes: a main pressure reducing chamber, sub pressure reducing chambers communicating with the main pressure reducing chamber and disposed in drive parts, ventilation holes on a same side of the sub pressure reducing chamber as suction holes and communicating the sub pressure reducing chambers and suction holes, and an open/close unit for releasing the ventilation holes when a pressure in suction chambers formed by a wall surface and the suction holes is equal to a pressure in the sub pressure reducing chamber and for closing the ventilation holes when the pressure in the suction chambers is higher than in the sub pressure reducing chamber. When the ventilation hole is closed, a gap of a size preventing the pressure in the sub pressure reducing chamber from affecting the pressure in the other suction chamber is formed in the ventilation hole.

A tracked climbing vehicle containing a compliant suspension apparatus to prescribe the distribution of forces on the adhering members in the tracked climbing machine. The compliant suspension apparatus is configured to negotiate irregularities in a climbing surface without the vehicle tracks losing full surface contact and adhesion by distributing the loads from the climbing machine chassis to the adhering traction members in a specific prescribed fashion. The apparatus thus avoids exceeding the allowable force in any adhering traction member and significantly improves the performance of the climbing machine.

A tracked climbing vehicle containing a compliant suspension apparatus to prescribe the distribution of forces on the adhering members in the tracked climbing machine. The compliant suspension apparatus is configured to negotiate irregularities in a climbing surface without the vehicle tracks losing full surface contact and adhesion by distributing the loads from the climbing machine chassis to the adhering traction members in a specific prescribed fashion. The apparatus thus avoids exceeding the allowable force in any adhering traction member and significantly improves the performance of the climbing machine.

A tracked climbing vehicle containing a compliant suspension apparatus to prescribe the distribution of forces on the adhering members in the tracked climbing machine. The compliant suspension apparatus is configured to negotiate irregularities in a climbing-surface without the vehicle tracks losing full surface contact and adhesion by distributing the loads from the climbing machine chassis to the adhering traction members in a specific prescribed fashion. The apparatus thus avoids exceeding the allowable force in any adhering traction member and significantly improves the performance of the climbing machine.

A tracked climbing vehicle containing a compliant suspension apparatus to prescribe the distribution of forces on the adhering members in the tracked climbing machine. The compliant suspension apparatus is configured to negotiate irregularities in a climbing-surface without the vehicle tracks losing full surface contact and adhesion by distributing the loads from the climbing machine chassis to the adhering traction members in a specific prescribed fashion. The apparatus thus avoids exceeding the allowable force in any adhering traction member and significantly improves the performance of the climbing machine.

A tracked climbing vehicle containing a compliant suspension apparatus to prescribe the distribution of forces on the adhering members in the tracked climbing machine. The compliant suspension apparatus is configured to negotiate irregularities in a climbing surface without the vehicle tracks losing full surface contact and adhesion by distributing the loads from the climbing machine chassis to the adhering traction members in a specific prescribed fashion. The apparatus thus avoids exceeding the allowable force in any adhering traction member and significantly improves the performance of the climbing machine.

A tracked climbing vehicle containing a compliant suspension apparatus to prescribe the distribution of forces on the adhering members in the tracked climbing machine. The compliant suspension apparatus is configured to negotiate irregularities in a climbing surface without the vehicle tracks losing full surface contact and adhesion by distributing the loads from the climbing machine chassis to the adhering traction members in a specific prescribed fashion. The apparatus thus avoids exceeding the allowable force in any adhering traction member and significantly improves the performance of the climbing machine.

Disclosed are a special robot with complex terrain adaptive function and a motion and operation method thereof. The special robot comprises a crawler chassis, a shock absorption suspension assembly, a suspension adaptive adjustment assembly and an electronic control assembly. The present disclosure achieves an adaptive angle adjustment on the left and right sides of the shock absorption suspension assembly, including the independent pitch angle and roller angle adjustment on the left and right sides of the shock absorption suspension assembly by the configuration of structures such as the suspension adaptive adjustment assembly and then achieves the adaptability of the robot on complex and tough pavement conditions by the combination with a sensor for pavement perception, which ensures walking performance and attachment ability of mechanisms, further improves the load-bearing performance of the crawler robot, ensures the safety, stability and adaptability of the mobile platform.

Disclosed are a special robot with complex terrain adaptive function and a motion and operation method thereof. The special robot comprises a crawler chassis, a shock absorption suspension assembly, a suspension adaptive adjustment assembly and an electronic control assembly. The present disclosure achieves an adaptive angle adjustment on the left and right sides of the shock absorption suspension assembly, including the independent pitch angle and roller angle adjustment on the left and right sides of the shock absorption suspension assembly by the configuration of structures such as the suspension adaptive adjustment assembly and then achieves the adaptability of the robot on complex and tough pavement conditions by the combination with a sensor for pavement perception, which ensures walking performance and attachment ability of mechanisms, further improves the load-bearing performance of the crawler robot, ensures the safety, stability and adaptability of the mobile platform.