CLASH: Climbing vertical loose cloth

CLASH is a 10cm, 15g robot capable of climbing vertical loose-cloth surfaces at 15 cm per second. The robot has a single actuator driving its six legs which are equipped with novel passive foot mechanisms to facilitate smooth engagement and disengagement of spines. These foot mechanisms are designed to be used on penetrable surfaces and offer improved tensile normal force generation during stance and reduced normal pull-off forces during retraction. Descended from the DASH hexapedal robot, CLASH features a redesigned transmission with a lower profile and improved dynamics for climbing. CLASH is the first known robot to climb loose vertical cloth and is able to climb surfaces when surface rigidity is not guaranteed.