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Jeong, Hoon Eui
Multiscale Biomimetics and Manufacturing Lab.
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A miniaturized wall-climbing segment robot inspired by caterpillar locomotion

Author(s)
Han, Il HwanYi, HoonSong, Chang-WooJeong, Hoon EuiLee, Seung-Yop
Issued Date
2017-08
DOI
10.1088/1748-3190/aa728c
URI
https://scholarworks.unist.ac.kr/handle/201301/22336
Fulltext
http://iopscience.iop.org/article/10.1088/1748-3190/aa728c/meta
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.
Publisher
IOP PUBLISHING LTD
ISSN
1748-3182
Keyword (Author)
climbing robotbioinspirationcaterpillargecko adhesive padsegment robotsolenoid
Keyword
ADHESIVE SYSTEMSGECKOFABRICATIONDESIGN

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