ROMERIN: Organismo rob?tico escalador basado en patas modulares con ventosas activas

This article presents the ROMERIN robot, a modular robotic organism composed of legs that use active suction cups as system of adhesion to the environment, and whose objective is the inspection of infrastructures by means of climbing. The physical structure of the robotic organism is detailed, including an explanation of the modules and the body. It is also included a description of the control architecture, which is focused on the torque-based control of the position of the organism body, whose number of legs and their arrangement is variable, giving the system versatility for use in different environments and applications. The designed control architecture serves as a basis for the control of legged climbing robots with any number of legs. Its performance has been checked on the physical ROMERIN robot and its digital twin, recording and displaying the obtained results. In addition, the performance of the control architecture has been verified for different configurations of the organism, concluding its modularity and versatility for different applications.