The full text of this article:

Distributed control of hexapod wall climbing robot implementing Controller Area Network (CAN)
by Nkgatho Sylvester Tale, Glen Bright, W.L. Xu
International Journal of Intelligent Systems Technologies and Applications (IJISTA), Vol. 1, No. 1/2, 2005
Abstract: Service robots have been used in tasks that require navigation of horizontal or near horizontal surfaces. Some applications require service robots that are capable of moving along a vertical plane e.g., wall painting, window washing, non-destructive testing (NDT), surveillance, etc. The controller of a wall climbing robot that has many actuators and many sensors is difficult to design because of safety issues. If a central controller is used, a failure in one part of the system can result in a failure of the complete system. This can result in the robot's safety mechanisms failing and the robot falling from the wall. This paper describes the design of a wall climbing robot that implements many actuators and sensors; the hexapod wall climbing robot. Controller Area Network (CAN) is implemented as a distributed controller of such a robot. The distributed controller is described in detail and its performance analysed.

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