Abstract
This paper investigates the feasibility of deploying quadruped walking robots for the automation of work in roof environments. While quadrupeds have demonstrated versatility across various domains, their large-scale deployment remains limited, partly due to lack of application-specific designs. Roof environments represent a novel and unexplored use case, combining high safety risks for human workers with repetitive, strenuous tasks that could benefit from robotic assistance. A dedicated test rig of a roof's surface was designed to evaluate the baseline performance of a commercial quadruped, the \emph{Unitree Go2}, in this new environment. Experiments revealed that standard ball feet are inherently inadequate for locomotion on sloped roofs: slippage increased quadratically with incline angle, get-up and lie-down sequences were only possible on small inclines, and critical failures already occurred regularly on moderate inclines of 25°. This work provides the first systematic assessment of quadruped locomotion in roof environments, highlighting both the potential and the current limitations of this application and establishes a baseline for future research. Effective solutions will require a combination of task-oriented foot designs, advanced contact mechanics and environment-specific control strategies, such as reinforcement learning for roof-adapted gaits.
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Cite this article
APA 7
Dettmar, B. F., & Roennau, A. (2026). Walking on Roofs: Exploring the Potential of Walking Robots for Construction Work on Roofs. https://omanscience.com/en/articles/walking-on-roofs-exploring-the-potential-of-walking-robots-for-construction-work-on-roofs
MLA 9
Dettmar, Bjoern-Felix, and Arne Roennau. "Walking on Roofs: Exploring the Potential of Walking Robots for Construction Work on Roofs." https://omanscience.com/en/articles/walking-on-roofs-exploring-the-potential-of-walking-robots-for-construction-work-on-roofs.
Chicago (author–date)
Dettmar, Bjoern-Felix, and Arne Roennau. 2026. "Walking on Roofs: Exploring the Potential of Walking Robots for Construction Work on Roofs." https://omanscience.com/en/articles/walking-on-roofs-exploring-the-potential-of-walking-robots-for-construction-work-on-roofs.
Harvard
Dettmar, B. F. and Roennau, A. (2026) 'Walking on Roofs: Exploring the Potential of Walking Robots for Construction Work on Roofs', Available at: https://omanscience.com/en/articles/walking-on-roofs-exploring-the-potential-of-walking-robots-for-construction-work-on-roofs.
Vancouver
Dettmar BF, Roennau A. Walking on Roofs: Exploring the Potential of Walking Robots for Construction Work on Roofs. https://omanscience.com/en/articles/walking-on-roofs-exploring-the-potential-of-walking-robots-for-construction-work-on-roofs
IEEE
B. F. Dettmar, and A. Roennau, "Walking on Roofs: Exploring the Potential of Walking Robots for Construction Work on Roofs," https://omanscience.com/en/articles/walking-on-roofs-exploring-the-potential-of-walking-robots-for-construction-work-on-roofs.