Abigaille-III: A Versatile, Bioinspired Hexapod for Scaling Smooth Vertical Surfaces

Henrey, Michael; Ahmed, Ausama Hadi; Boscariol, Paolo; Shannon, Lesley; Menon, Carlo

doi:10.1016/s1672-6529(14)60015-9

Cited by 82 publications

(58 citation statements)

References 34 publications

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“…However, legged climbing robots may increase their potential to adapt their gaits to uneven surfaces and allow for more instantaneous control of stability, if we can push or pull them effectively during the intermittent contact with the substrate at each step. Several groups have developed legged robots that use dry adhesives and capable of such a contact formation/breakage control [14][15][16]. One of the most impressive robots is the Stickybot [17], which utilizes directional polymer stalks (DPS) to effectively climb vertical surfaces, such as glass, plastic, and polished wood panels.…”

Section: Introductionmentioning

confidence: 99%

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Bio-Inspired Adhesive Footpad for Legged Robot Climbing under Reduced Gravity: Multiple Toes Facilitate Stable Attachment

Wang

Zhang

et al. 2018

Applied Sciences

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This paper presents the design of a legged robot with gecko-mimicking mechanism and mushroom-shaped adhesive microstructure (MSAMS) that can climb surfaces under reduced gravity. The design principle, adhesion performance and roles of different toes of footpad are explored and discussed in this paper. The effect of the preload velocity, peeling velocity and thickness of backing layering on the reliability of the robot are investigated. Results show that pull-force is independent of preload velocity, while the peeling force is relying on peeling velocity, and the peel strength increased with the increasing thickness of the backing layer. The climbing experiments show that the robot can climb under mimic zero gravity by using multiple toes facilitating adhesion. The robot with new type of footpads also provides a good platform for testing different adhesive materials for the future space applications.

show abstract

Section: Introductionmentioning

confidence: 99%

“…Several groups have developed legged robots that use dry adhesives and capable of such a contact formation/breakage control [14][15][16]. One of the most impressive robots is the Stickybot [17], which utilizes directional polymer stalks (DPS) to effectively climb vertical surfaces, such as glass, plastic, and polished wood panels.…”

Section: Introductionmentioning

confidence: 99%

Bio-Inspired Adhesive Footpad for Legged Robot Climbing under Reduced Gravity: Multiple Toes Facilitate Stable Attachment

Wang

Zhang

et al. 2018

Applied Sciences

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“…Henrey et al presented a legged, hexapod robot using dry adhesive footpads which allowed the robot to stick to smooth surfaces [24]. Wang et al proposed a new dynamic model and designed a climbing prototype robot which sticks to the surface by claw [25].…”

Section: Introductionmentioning

confidence: 99%

Vertical Climbing Locomotion of a New Gecko Robot Using Dry Adhesive Material

Yu¹,

Yang²,

Yang³

et al. 2017

International Journal of Robotics and Automation

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Most of Geckos can move freely on a smooth vertical surface. The wonderful ability of locomotion depended on the countless setae under the geckos' foot which have an effect on van der Waals' force between foot and surface. This kind of force belongs to the dry adhesive force. Many scientists had attempted to understand structure-function and had produced several kinds of dry adhesive material. One of the dry adhesive materials with mushroom-shaped adhesive microstructure (MSAMS) had been selected and firstly applied in vertical locomotion of Gecko robot_6 which was a bioinspired gecko robot with four legs. To apply MSAMS in Gecko robot_6 successfully, the adhesive ability of MSAMS was tested including normal force, tangential force, and the peel-off force curve with different thickness substrates of bio-inspired gecko foot. The new bio-inspired gecko foot with MSAMS was designed, and the Gecko robot_6 can climb on a smooth vertical surface (glass) stably using dry adhesive material with MSAMS.

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“…here are several configurations for climbing robot so far, including wheeled robot, caterpillar robot, and multi legs robot etc [1][2][3][4] . In virtue of its adaptability to unknown environment and uneven wall, multi legs climbing robot became one drawing more and more attention in recently years.…”

Section: Introductionmentioning

confidence: 99%

Analysis on the dynamic climbing forces of a gecko inspired climbing robot based on GPL model

Wang

Zhu

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Inspired by geckos, we built a new configuration for climbing robot, the GPL model with one passive waist and four active axil legs. In this paper, further research was made to analysis its motion. We found the anomalies line between supporting feet and its effect on robot motion. A step further, the principia of configuration design and gait planning were proposed based on dynamic analysis. The prototype was developed and the climbing forces experiment was carried out. We testified the rationality of GPL model and waist trajectory planning. Also, energy analysis was proven by the driving forces measured on the supporting feet. In our experiment, the deceleration force during the robot climbing was only provided by the gravity, indicating a potential space for speed improvement without significant energy waste.

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Abigaille-III: A Versatile, Bioinspired Hexapod for Scaling Smooth Vertical Surfaces

Cited by 82 publications

References 34 publications

Bio-Inspired Adhesive Footpad for Legged Robot Climbing under Reduced Gravity: Multiple Toes Facilitate Stable Attachment

Bio-Inspired Adhesive Footpad for Legged Robot Climbing under Reduced Gravity: Multiple Toes Facilitate Stable Attachment

Vertical Climbing Locomotion of a New Gecko Robot Using Dry Adhesive Material

Analysis on the dynamic climbing forces of a gecko inspired climbing robot based on GPL model

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