Title :
Optimal attaching and detaching trajectory for bio-inspired climbing robot using dry adhesive
Author :
Zhongyuan Wang ; Zhendong Dai ; Zhiwei Yu ; Danni Shen
Author_Institution :
Inst. of Bio-inspired Struct. & Surface Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Abstract :
IBSS_Gecko_6 is a bio-inspired legged robot that can climb on smooth vertical surface. In this paper, we design a new footpad which equipped with polyurethane adhesive. Different from pervious study, we directly apply the adhesive in the footpad and investigate optimal attaching and detaching trajectory for wall climbing. The optimal adhesion force demonstrated that the leg can perform strong attaching force and modest detaching force, which can supply a reliable force for wall climbing. The optimal trajectory can apply in the wall climbing robot in future.
Keywords :
adhesion; adhesives; legged locomotion; organic compounds; path planning; IBSS_Gecko_6 robot; attaching force; bio-inspired legged robot; bio-inspired wall climbing robot; detaching force; dry polyurethane adhesive; footpad design; optimal adhesion force; optimal attaching trajectory; optimal detaching trajectory; smooth vertical surface climbing; Adhesives; Climbing robots; Force; Legged locomotion; Substrates; Trajectory;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878209
