Robot Dog Climbs Walls with Robotic Actuators，50 Times Fater!

Robot Dogs Beyond Flat Ground

The age of the robot dog is rapidly advancing. Once limited to walking and running on flat terrain, today’s quadruped robots are tackling extreme environments—from rough ground to vertical shafts. One of the most striking breakthroughs is KLEIYN, a chimney-climbing quadruped robot designed with an active waist joint and powered by CubeMars robotic actuators.

Unlike traditional robot dogs that struggle in confined spaces, KLEIYN can press its legs and torso against two walls and climb vertically, much like a human rock climber.

Chimney Climbing: A New Era for Quadruped Robots

KLEIYN weighs around 18 kg, measures 760 mm in body length, and offers 13 degrees of freedom (3 DOF per leg + 1 waist DOF). Its unique design allows the robot to wedge itself between walls spaced 800–1000 mm apart and ascend at speeds up to 150 mm/s—around 50× faster than earlier attempts at vertical climbing robots.

This innovation comes from the waist joint motor, which lets the robot flex its torso, adapt to wall spacing, and maintain stability during vertical movement. The result is a chimney climbing robot dog that transitions seamlessly between ground locomotion and vertical ascent.

The Core of KLEIYN’s Legs with AK70-10 (Max Torque 24.8 Nm)

The robot’s legs are equipped with CubeMars AK70-10 actuators, delivering up to 24.8 Nm torque. These compact yet powerful motors provide: AK70-10 KV100 Robotic Actuator

● Fast reflexes and low latency, critical for quick foot placement and wall adjustments;

● High torque output, enabling stable pressure against vertical surfaces;

● Quasi-direct drive smoothness, reducing vibration and ensuring fluid climbing cycles.

With AK70-10 KV100 robotic actuator in each leg joint, KLEIYN can perform rapid micro-adjustments to adapt to uneven wall surfaces while maintaining continuous upward force.

Strong Core with AK10-9 V2.0 KV60 Robotic Actuator (Max Torque 48 Nm)

The true innovation lies in the waist joint, powered by CubeMars AK10-9 V2.0 KV60 actuator. Much like a human climber’s core muscles, this joint is the central stabilizer during chimney climbing. 

● 48 Nm torque capacity—double that of the leg actuators—provides the strength to brace the torso between two walls;

● Sustained stability, keeping the robot securely wedged even under dynamic leg movements;

● Dynamic posture control, thanks to low-latency response for bending and extending in sync with climbing cycles;

● Mechanical “core strength” effect, ensuring the torso channels power efficiently without drift or instability.

With AK10-9 V2.0 KV60, the waist becomes more than a connector—it is the key to vertical climbing stability, transforming KLEIYN into a reliable climbing quadruped robot.

Why This Matters: From Labs to Real-World Applications

The combination of robot dog agility and waist joint stability opens up a wide range of possibilities:

● Search and Rescue: climbing through collapsed buildings, vertical shafts, or narrow debris zones;

● Industrial Inspection: accessing chimneys, ventilation ducts, and confined pipelines;

● Exploration: navigating caves, fissures, and geological formations beyond human reach.

With CubeMars robotic actuators, KLEIYN shows how quadruped robots with waist joints can go where no robot dog has gone before.

CubeMars Redefines Vertical Mobility

KLEIYN demonstrates the next leap for quadruped robot dogs—climbing walls instead of being confined to the ground. Powered by CubeMars AK70-10 KV100 robotic actuators for nimble leg control and the AK10-9 robotic actuator for a strong, stabilizing waist joint, the robot achieves smooth, powerful, and reliable chimney climbing.

CubeMars continues to lead the way in robotics with high-torque, low-latency, quasi-direct drive actuators, enabling breakthroughs in mobility, agility, and adaptability.

CubeMars robotic actuators: where robot dogs gain the strength to climb.