ROCR is an oscillating climbing robot: dynamically climbing sheer walls with a pendular two-link mass-shifting robot

Driven by the need for lightweight, energy efficient, mission adaptable climbing robots, a new type of vertical wall climbing robot is developed. This thesis presents a novel bio-inspired dynamic climbing robot, with a recursive name: ROCR is an Oscillating Climbing Robot. ROCR is a pendular tow-link, serial chain robot that utilizes alternation hand-holds and an actuated tail to propel itself upward in a climbing style based on observation of human climbers and brachiating gibbons.