Climber robot

Claim 1

A mobile robot adapted for movement and climbing on horizontal and vertical surfaces comprising: a. a movement mechanism having a front leg assembly and a rear leg assembly, a front ankle pivotally attached to a distal end of said front leg assembly, a rear ankle pivotally attached to a distal end of said rear leg assembly, and said front and rear leg assemblies pivotally joined at their proximal ends by a knee joint; b. at least one pair of front leg pneumatic muscles mounted to said front leg assembly and operably attached to said knee joint and to said front ankle; c. at least one pair of rear leg pneumatic muscles mounted to said rear leg and operably attached to said rear ankle; d. each of said pneumatic muscles comprising a pneumatic cavity within an elastic tube, said tube having an opening therein for delivering and releasing air from said cavity, said tube defining a cylinder having a circumference and length, and whereby said circumference increases in proportion to an increase in air pressure within said cavity and whereby said length decreases in proportion to said increase in said circumference; e. said front leg muscles operably connected in a cooperative relationship whereby said front ankle can be pivoted above and below a horizontal plane defined by said front leg assembly and whereby said front leg can be pivoted about said knee joint above and below a horizontal plane defined by said rear leg assembly; f. said rear leg muscles operably connected in a cooperative relationship whereby said rear ankle can be pivoted above and below a horizontal plane defined by said rear leg assembly; and g. a front foot attached to said front ankle and a rear foot attached to said rear ankle, said front foot and said rear foot adapted for releasably engaging horizontal and vertical surfaces.