Periodical inspection and monitoring on industrial structure, such as nuclear power plant, petrochemical complex, ships, bridges are very important to secure safety and extend the life of an industrial structure. However, most of the current inspection methods have been performed in dangerous or limitative a place for workers with an inefficient way. Also, it is limited to inspect the whole structure. one of a good solution is a climbing and rotation robot with autonomous inspection purpose to ensure the worker’s safety and minimize the cost of inspection.