A rough concrete wall-climbing robot based on grasping claws

Fei, Xu; Shen, Jingjin; Hu, Jian; Jiang, Guoping

doi:10.1177/1729881416666777

Cited by 13 publications

(5 citation statements)

References 29 publications

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“…Secondly, our findings largely corroborate earlier observations of claw shape made in other lizard taxa (Zani 2000;D'Amore et al 2018;Yuan et al 2018;but Crandell et al 2014), birds (Birn-Jeffery et al 2012but Pike and Maitland 2004) and mammals (Tulli et al 2016), in that climbing species occupying vertical elements carry short, strongly curved, full-bodied claws. Biomechanical and experimental work showed that claws of such shape have a high mechanical strength and improve clinging performance on rough surfaces by increasing frictional grip (Zani 2000;Dai et al 2002;Provancher et al 2005;Tulli et al 2011;Xu et al 2016), which suggests that carrying short, strongly curved, full-bodied claws is an adaptation for efficient locomotion on vertical elements (Zani 1999). Interestingly, our data also shows that climbing species have less thick claws (relative to body size) than ground-dwelling species.…”

Section: Claw Shape Adaptations For Efficient Locomotion On Disparatementioning

confidence: 99%

Convergent Evolution of Claw Shape in a Transcontinental Lizard Radiation

Baeckens

Goeyers

Damme

2019

Integrative and Comparative Biology

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Species occupying similar selective environments often share similar phenotypes as the result of natural selection. Recent discoveries, however, have led to the understanding that phenotypes may also converge for other reasons than recurring selection. We argue that the vertebrate claw system constitute a promising but understudied model system for testing the adaptive nature of phenotypic, functional, and genetic convergence. In this study, we combine basic morphometrics and advanced techniques in form analysis to examine claw shape divergence in a transcontinental lizard radiation (Lacertidae). We find substantial interspecific variation in claw morphology and phylogenetic comparative statistics reveal a strong correlation with structural habitat use: ground-dwelling species living in open areas are equipped with long, thick, weakly curved, slender-bodied claws, whereas climbing species carry high, short, strongly curved, full-bodied claws. Species occupying densely vegetated habitats tend to carry intermediately shaped claws. Evolutionary models suggest that claw shape evolves towards multiple adaptive peaks, with structural habitat use pulling species towards a specific selective optimum. Contrary to findings in several other vertebrate taxa, our analyses indicate that environmental pressures, not phylogenetic relatedness, drive convergent evolution of similarly shaped claws in lacertids. Overall, our study suggests that lacertids independently evolved similarly shaped claws as an adaptation to similar structural environments in order to cope with the specific locomotory challenges posed by the habitat. Future biomechanical studies that link form and function in combination with genomic and development research will prove valuable in better understanding the adaptive significance of claw shape divergence.

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Section: Claw Shape Adaptations For Efficient Locomotion On Disparatementioning

confidence: 99%

Convergent Evolution of Claw Shape in a Transcontinental Lizard Radiation

Baeckens

Goeyers

Damme

2019

Integrative and Comparative Biology

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“…The maximum top size of the micro-hook is derived from Reference [21]. The top size of the micro-hook should be lower than the maximum size.…”

Section: Calculation Of Hook Top Sizementioning

confidence: 99%

Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis

Jiang

Fei

2017

Applied Sciences

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Aiming at the inspection of rough stone and concrete wall surfaces, a grasping module of cross-arranged claw is designed. It can attach onto rough wall surfaces by hooking or grasping walls. First, based on the interaction mechanism of hooks and rough wall surfaces, the hook structures in claw tips are developed. Then, the size of the hook tip is calculated and the failure mode is analyzed. The effectiveness and reliability of the mechanism are verified through simulation and finite element analysis. Afterwards, the prototype of the grasping module of claw is established to carry out grasping experiment on vibrating walls. Finally, the experimental results demonstrate that the proposed cross-arranged claw is able to stably grasp static wall surfaces and perform well in grasping vibrating walls, with certain anti-rollover capability. This research lays a foundation for future researches on wall climbing robots with vibrating rough wall surfaces.

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“…Additionally, innovative soft climbing robots include lightdriven [24,25] and magnetism-driven soft robots [26,27]; energy-storage hopping robots imitating a locust and a flea [28,29], soft grappling mechanisms [30][31][32][33], walking robots inspired by crawling of multi-legged beetles [34], and rolling robots are available [35]. Compared with current rigid and flexible climbing robots [36][37][38][39][40], the aforementioned soft climbing robots [41,42] show stronger deformability and more user-friendly human-computer interaction.…”

Section: Introductionmentioning

confidence: 99%

Modelling of a soft multi-chambered climbing robot and experiments

Xu¹,

Jiang²,

Lu³

et al. 2021

Smart Mater. Struct.

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Soft robots have wide potential applications prospects in unstructured environments owing to their being able to imitate forms of motion of creatures in climbing and creeping through small spaces. By utilising the high flexibility of soft materials, a pneumatic soft climbing robot was designed. At first, a model for soft climbing robots with a stiffness gradient was designed according to the drive mode of pneumatic networks in soft robots. Afterwards, the visco-mechanical properties of robots at the contact surface were analysed and also the deformation characteristics of cavities were discussed by using the method of minimum potential energy. Subsequently, through simulation and use of the finite element method, the optimal number of cavities in an actuator required by a climbing robot was calculated and also the climbing behaviours of the robot were analysed. Finally, by employing 3D printing and layer-by-layer casting, a prototype soft climbing robot was prepared to perform climbing experiments. The research is expected to provide a new method for monitoring complex unstructured environments.

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A rough concrete wall-climbing robot based on grasping claws

Cited by 13 publications

References 29 publications

Convergent Evolution of Claw Shape in a Transcontinental Lizard Radiation

Convergent Evolution of Claw Shape in a Transcontinental Lizard Radiation

Grasping Claws of Bionic Climbing Robot for Rough Wall Surface: Modeling and Analysis

Modelling of a soft multi-chambered climbing robot and experiments

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