The inspection of high ceilings or surfaces is important to ensure the quality and safety of infrastructure; however. the approach adopted by people or conventional robots is rather limited. Kinodynamic constraints (simultaneous kinematic and dynamic constraints) are presented by obstacles in real-life scenarios. such as suspended piping and wiring. https://www.roneverhart.com/Globe-The-All-Time-Black-Rose-35-Kicktail-Longboard/