Patent ID: 8066088

Claim:
A device for climbing on a wall surface or clinging onto said wall surface, comprising: a plurality of compliant linkages neighboring each other and movable with respect to each other; a plurality of climbing or clinging spines for climbing on said wall surface or clinging onto said wall surface, wherein each of said plurality of compliant linkages comprises in a planar arrangement a first non-compliant structure supporting at least one of said spines and wherein said first non-compliant structure comprises an interior cutout through said planar arrangement, a second non-compliant structure, a first compliant structure with a first end and a second end, and a second compliant structure with a first end and a second end, wherein said first end of said first compliant structure is connected to said first non-compliant structure, wherein said first end of said second compliant structure is connected to said first non-compliant structure, wherein said second end of said first compliant structure is connected to said second non-compliant structure, wherein said second end of said second compliant structure is connected to said second non-compliant structure, wherein each of said spines is capable of moving independently from each other and wherein each of said spines is capable of moving in at least two dimensions; and a pin fixated at a location in the space of said interior cutout of said first non-compliant structure to prevent excessive motion of said first non-compliant structure within said compliant linkage.