A Modular Soft Wall-Climbing Robot Using Electromagnetic Actuator

In this study, we present a modular soft wall-climbing robot, which utilizes electromagnet as a new paradigm soft robot actuation. The electromagnetic actuator provides a significant improvement in efficiency and self-sufficiency compared with existing actuation modes. The robot propagates a traveling wave inspired by caterpillar locomotion and it is capable of crawling on a vertical iron wall. The speed of the robot can be adjusted by modulating the power frequency. When the period of motion cycle is 170 milliseconds, the speed of the robot is about 3.7 mm/s on the horizontal plane and it can climb the vertical wall with a velocity of 2.9 mm/s. The modules have magnets embedded and can easily be separated or connected into other configurations in different working conditions, which makes the robot have the ability of operating within a range of challenging surroundings. Thus the robot has the potential to be used in flaw detection, surface cleaning and exploration of ferromagnetic steel structures.