The fa�§ade cleaning of high rise buildings is one of the hazardous tasks that is performed\nby human operators. Even after a significant advancement in construction technologies, several\nnewfangled skyscrapers are still using the manual method for cleaning the glass panels. This research\nis aimed at the development of a glass fa�§ade cleaning robot, capable of adapting to any kind\nof building architecture. A robotic system capable of cleaning vertical glass surfaces demands\na transformable morphology. A self-reconfigurable robot is one of the potential solutions to realize\nhigh degrees of adaptability. Following the design principles we derived, we propose a nested\nreconfigurable design approach for glass fa�§ade cleaning and develope a system of robot modules\nthat performs glass fa�§ade cleaning. Throughout this research article, we discuss the brief concept and\nscheme of nested reconfigurable design principle and the hardware-software challenges associated\nwith it. This article also discusses the capability to maximize the flexibility and modularity of the\nrobot by using intra- and inter-reconfigurations. The effectiveness of the designed system is verified\nby experimental means.
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