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Mini-Whegs TM Climbs Steep Surfaces Using Insect-inspired Attachment Mechanisms

Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA

Terence E. Wei

Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA

Andrew D. Horchler

Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA

Lori Southard

Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA

Gregory D. Wile

Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA

Roger D. Quinn

Biorobotics Laboratory, Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, USA

Stanislav N. Gorb

Evolutionary Biomaterials Group, Max-Planck-Institute for Metals Research, 70569 Stuttgart, Germany s.gorb{at}mf.mpg.de

Roy E. Ritzmann

Department of Biology, Case Western Reserve University, Cleveland, OH, USA, roy.ritzmann{at}case.edu

When climbing vertical or inclined surfaces, insects utilize claws, tibial spines, and tarsal pads to create attachment forces. These devices allow them to climb on a variety of substrates, including those that are smooth, soft, or porous. Recent advances in materials may make long-lasting dry adhesives and arrays of sharp hooks feasible attachment mechanisms for small robots. Mini-Whegs^TM are a series of robots that use rotating wheel-legs driven by a single motor for locomotion. By testing specially designed wheel-legs with office tape, pairs of spines, and Velcro®, this work demonstrates the feasibility of applying novel adhesives and frictional materials passively on simple rotating legs. The resulting robot climbs vertical fabric surfaces with Velcro®, crosses ceilings with Scotch® tape, and climbs steep concrete inclines with sharp spines and provides a test-platform for future adhesive materials such as dry adhesive tape.

Key Words: wall climbing robots • biologically-inspired • reduced actuation • legged mobile robots

The International Journal of Robotics Research, Vol. 28, No. 2, 285-302 (2009)
DOI: 10.1177/0278364908095334


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