Do you have a vacuum with attachments and a long handle that you can use to walk around and suck up the dirt? Or what about one of those lambs wool or other fluffy kind of dusters, like you might use for ceiling fans, with a long handle that you could use to rub along them while you are upright? If you feel you need to wipe with a cloth, then my suggestion would be to sit on your bum and scoot along the wall while you have a rag and a bucket of warm water with your cleaner of choice in it.