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Jeong, Hoon Eui
Multiscale Biomimetics & Manufacturing Lab
Research Interests
  • Biomimetics

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A miniaturized wall-climbing segment robot inspired by caterpillar locomotion

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Title
A miniaturized wall-climbing segment robot inspired by caterpillar locomotion
Author
Han, Il HwanYi, HoonSong, Chang-WooJeong, Hoon EuiLee, Seung-Yop
Keywords
climbing robot; bioinspiration; caterpillar; gecko adhesive pad; segment robot; solenoid
Issue Date
201708
Publisher
IOP PUBLISHING LTD
Citation
BIOINSPIRATION & BIOMIMETICS, v.12, no.4, pp.046003 -
Abstract
Caterpillars are very successful soft-bodied climbers that navigate in complex environments. This paper develops a multi-segmented robot climbing on vertical surfaces using dry adhesive pads, inspired by caterpillar locomotion. The miniaturized robot consists of four segments, and each segment uses a solenoid actuator with a permanent magnet plunger. The head and body segments adapt a novel mechanism and Scott-Russell linkages to generate a bi-directional plane motion using one solenoid actuator, resulting to reliable attaching and peeling motions of gecko pads. A tail is also attached at the back of the last segment to avoid falling or exhibiting unstable motion. Gecko-inspired adhesive pads are fabricated from polydimethylsiloxane (PDMS) with the area of 20 mm x 10 mm. We have conducted experiments on the locomotion performance of the segment robot climbing vertical surfaces for two types of locomotion, achieving the fast and stable climbing motion.
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DOI
http://dx.doi.org/10.1088/1748-3190/aa728c
ISSN
1748-3182
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