Gecko Inspired Surface Climbing Robots

Many applications call for robots to perform tasks in workspaces where traditional vehicles cannot reach. Using robots to perform these tasks can afford better human safety as well as lower cost operations. This paper focuses on the development of gecko inspired synthetic dry adhesives for wall climbing robots which can scale vertical walls. Many applications are of great interest for this kind of robot such as inspection, repair, cleaning, and exploration. The fabrication of synthetic dry adhesives inspired by nature is discussed as well as the design of prototype wall climbing robots. Results are presented and discussed to show the feasibility of novel gecko inspired robots

[1]  Metin Sitti,et al.  Modeling and Design of Biomimetic Adhesives Inspired by Gecko Foot-Hairs , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.

[2]  R. Full,et al.  Evidence for van der Waals adhesion in gecko setae , 2002, Proceedings of the National Academy of Sciences of the United States of America.

[3]  Shigeo Hirose,et al.  Walking and running of the quadruped wall-climbing robot , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[4]  Cheng,et al.  The studying of Virtual Token Passing approach in ControlNet , 2004 .

[5]  R. Full,et al.  Adhesive force of a single gecko foot-hair , 2000, Nature.

[6]  Xu Dianguo,et al.  Development & Application of Wall-Climbing Robots , 1999, ICRA.

[7]  Kazuhiko Kawamura,et al.  A Rubbertuator-based structure-climbing inspection robot , 1997, Proceedings of International Conference on Robotics and Automation.

[8]  Hyoukryeol Choi,et al.  A wall climbing robot with closed link mechanism , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[9]  M. Murakami,et al.  Development of a semi self-contained wall climbing robot with scanning type suction cups , 1997, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97.

[10]  Ronald S. Fearing,et al.  Synthetic gecko foot-hair micro/nano-structures as dry adhesives , 2003 .