Design and Realization of a Novel Modular Climbing Caterpillar Using Low-Frequency Vibrating Passive Suckers

This paper presents a novel inspired modular climbing caterpillar. First, related issues such as the attachment principles and locomotion kinematics of climbing robots are summarized systematically. Based on the investigation of the movement mechanism of natural caterpillars, we combine climbing techniques with a modular approach to realize a novel prototype as a flexible wall-climbing robotic platform featuring an easy-to-build mechanical structure, a low-frequency vibrating passive attachment principle and various locomotion capabilities. The robot consists of cross-connected modules for moving. There are only two kinds of modules in the system: (i) the head and tail module, and (ii) the body module. Active joints actuated by RC servos endow the connecting modules with the ability to change shapes in two dimensions. After explaining these principles, the discussion focuses on the robot's various locomotion capabilities. Linear movements, turning movements, lateral movements, and rotating and rolling movements are achieved by an inspired control model to produce rhythmic motion. An easy-to-build modular caterpillar is designed and manufactured as an experimental prototype to confirm the feasibility of our design principle and the robot's capabilities. Finally, a conclusion is given and future work is outlined.