Abstract: An apparatus and method for performing a process on a structure is disclosed. The apparatus includes a main body suspended in a vertical direction from an elevated portion of the structure using rope. The apparatus also includes first and second articulated legs attached to the main body from a hip joint and articulates the legs using hip actuators which are coupled to the hip joints. Each of the legs include a foot end to facilitate establishing contact between the apparatus and the surface of the structure to support the main body on the structure's surface. The apparatus further includes a processing end effector to perform a process on the structure's surface. The apparatus goes through a sequence of actions to move along various surfaces of the structure and perform a process on the surface using the end effector. The sequence of actions may be performed autonomously using a control unit.