A gecko inspired wall-climbing robot based on electrostatic adhesion mechanism

Rui Chen; Rong Liu; Jifan Chen; Jin Zhang

doi:10.1109/ROBIO.2013.6739491

A gecko inspired wall-climbing robot based on electrostatic adhesion mechanism

Rui Chen
, Rong Liu
, Jifan Chen
, Jin Zhang

School of Mechanical Engineering and Automation

Beihang University

Research output: Contribution to conference › Paper › peer-review

36 Scopus citations

Abstract

In this paper, the design, analysis and fabrication of a quadruped wall-climbing robot is presented. Inspired by the climbing gaits of geckos, the robot has kinematics similar to a gecko's motion. Unlike geckos stick on the wall surface with Van del Waals force, the robot is based on electrostatic adhesion force induced by a specifically designed electrostatic adhesive footpad. By combining the bionic gait design of the gecko and the unique properties of electrostatic adhesion mechanism, the robot has advantages of light weight, low energy consumption, flexible movement and high adaptability to different wall surfaces. Climbing experiments on the surface of a high-rise glass window are demonstrated, and the robot can achieve straight climbing and turning robustly and agilely. The potential applications of this robot are reconnaissance, inspection, cleaning and repairing.

Original language	English
Pages	396-401
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739491
State	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 14/12/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/ROBIO.2013.6739491

Cite this

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abstract = "In this paper, the design, analysis and fabrication of a quadruped wall-climbing robot is presented. Inspired by the climbing gaits of geckos, the robot has kinematics similar to a gecko's motion. Unlike geckos stick on the wall surface with Van del Waals force, the robot is based on electrostatic adhesion force induced by a specifically designed electrostatic adhesive footpad. By combining the bionic gait design of the gecko and the unique properties of electrostatic adhesion mechanism, the robot has advantages of light weight, low energy consumption, flexible movement and high adaptability to different wall surfaces. Climbing experiments on the surface of a high-rise glass window are demonstrated, and the robot can achieve straight climbing and turning robustly and agilely. The potential applications of this robot are reconnaissance, inspection, cleaning and repairing.",

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year = "2013",

doi = "10.1109/ROBIO.2013.6739491",

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AU - Chen, Rui

AU - Liu, Rong

AU - Chen, Jifan

AU - Zhang, Jin

PY - 2013

Y1 - 2013

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AB - In this paper, the design, analysis and fabrication of a quadruped wall-climbing robot is presented. Inspired by the climbing gaits of geckos, the robot has kinematics similar to a gecko's motion. Unlike geckos stick on the wall surface with Van del Waals force, the robot is based on electrostatic adhesion force induced by a specifically designed electrostatic adhesive footpad. By combining the bionic gait design of the gecko and the unique properties of electrostatic adhesion mechanism, the robot has advantages of light weight, low energy consumption, flexible movement and high adaptability to different wall surfaces. Climbing experiments on the surface of a high-rise glass window are demonstrated, and the robot can achieve straight climbing and turning robustly and agilely. The potential applications of this robot are reconnaissance, inspection, cleaning and repairing.

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M3 - 论文

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ER -

A gecko inspired wall-climbing robot based on electrostatic adhesion mechanism

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