Abstract:The cabin of ships and other marine engineering equipment is characterized by numerous equipment,restricted space and complex structure.Traditional manual inspection cannot overcome the problems of safety and efficiency.To solve these problems,the climbing mechanism of organisms such as inchworm was studied,and a multi-mode climbing robot for cabin inspection was designed by using negative pressure adsorption and electromagnetic adsorption in combination with bionic technology.The robot could move in small spaces and adapt to walls with different materials.A kinematics model of the robot was established based on modified D-H parameters,and the forward and inverse solutions of robot kinematics were solved.Compared with traditional gait control methods,a gait planning strategy based on Hopf oscillator was proposed with the gait analysis.Then,a prototype robot control platform was built,and a gait control comparison test was conducted to verify the stability of the gait planning of the multi-mode cabin inspection robot.The research expands a new idea for the research of new form inspection robot of marine engineering equipment such as ships.