Result of experiments to measure the carrying capacity of the robot.

Table 2: Result of experiments to measure the carrying capacity of the robot.

Mass of plummet	Climbing speed	Ratio to the reference speed
None	29.4 mm/s	1
0.494 kg	28.3 mm/s	0.96
1.063 kg	25.9 mm/s	0.88
1.494 kg	24.6 mm/s	0.84
2.010 kg	23.8 mm/s	0.81