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

fYear

2014

fDate

8-11 July 2014

Firstpage

990

Lastpage

993

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on

Conference_Location

Besacon

Type

conf

DOI

10.1109/AIM.2014.6878209

Filename

6878209