Adhesion Technologies of Bio-Inspired Climbing Robots: A Survey

Chattopadhyay, Priyabrata; Ghoshal, Sanjoy K.

doi:10.2316/journal.206.2018.6.206-5193

Cited by 17 publications

(9 citation statements)

References 27 publications

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“…Using adhesive feet, robots can walk on steep slopes and vertical surfaces ( Figure 2 ). These surfaces determine the adhesion technologies for the feet, such as magnetic adhesion on ferromagnetic surfaces, mechanical gripping on trees/pipes, and suction/dry adhesion on glass [ Chattopadhyay and Ghoshal (2018) ]. Spatula-shaped and mushroom-shaped feet are most commonly used in climbing robots, e.g., StickyBot [ Santos et al (2008) ], StickyBot I; [ Kim et al (2008) ], StickyBot III [ Hawkes et al (2011) ], Geckobot [ Unver et al (2005) ], Gecko-Inspired Soft Robot [ Schiller et al (2019) ], Abigaille I [ Menon et al (2008) ], Abigaille II [ Li et al (2012) ], Tailless Gecko Robot [ Srisuchinnawong et al (2019) ], 9 g climber [ Hawkes et al (2015) ], Mini-WhegsTM7 [ Daltorio et al (2006) ], Waalbot II [ Murphy et al (2011) ], Wall and Ceiling Climbing Quadruped Robot [ Ko et al (2017) ], and Gecko-Inspired Climbing Robot [ Shao et al (2020) ].…”

Section: Bio-inspired Adhesive Feet On Climbing Robotsmentioning

confidence: 99%

“…Recently, several types of artificial adhesive feet have been developed based on bio-inspiration studies, such as mechanical adhesion (gripping), pneumatic adhesion (suction cups), magnetic adhesion (permanent magnet), and dry adhesion (elastomer adhesive) [ Daltorio et al (2006) ; Kim et al (2008) ; Hu et al (2009) ; Seitz et al (2014) ; Hawkes et al (2015) ; Xu et al (2016) ; Jiang and Xu (2018) ]; Elbadawi et al (2018) ; Chattopadhyay and Ghoshal (2018) . In particular, bio-inspired dry adhesion has been actively studied and applied to climbing robots on smooth vertical surfaces.…”

Section: Introductionmentioning

confidence: 99%

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Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

Borijindakul

Dai

et al. 2021

Front. Bioeng. Biotechnol.

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Developing climbing robots for smooth vertical surfaces (e.g., glass) is one of the most challenging problems in robotics. Here, the adequate functioning of an adhesive foot is an essential factor for successful locomotion performance. Among the various technologies (such as dry adhesion, wet adhesion, magnetic adhesion, and pneumatic adhesion), bio-inspired dry adhesion has been actively studied and successfully applied to climbing robots. Thus, this review focuses on the characteristics of two different types of foot microstructures, namely spatula-shaped and mushroom-shaped, capable of generating such adhesion. These are the most used types of foot microstructures in climbing robots for smooth vertical surfaces. Moreover, this review shows that the spatula-shaped feet are particularly suitable for massive and one-directional climbing robots, whereas mushroom-shaped feet are primarily suitable for light and all-directional climbing robots. Consequently, this study can guide roboticists in selecting the right adhesive foot to achieve the best climbing ability for future robot developments.

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Section: Bio-inspired Adhesive Feet On Climbing Robotsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

Borijindakul

Dai

et al. 2021

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

show abstract

“…Such robots have the ability to propel themselves along any direction in a threedimensional space, either climbing vertically or traversing irregular surface profiles [39]. Hence they are typically divided in several joint mechanisms with strong grips [40], for which progression around any arbitrarily oriented surface is achieved by alternation of fastening [36]. These come in either soft-design robots [41,42] or rigid units [43].…”

Section: Limbless Robotsmentioning

confidence: 99%

Towards bio-inspired robots for underground and surface exploration in planetary environments: An overview and novel developments inspired in sand-swimmers

Lopez-Arreguin

Montenegro

2020

Heliyon

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Dessert organisms like sandfish lizards (SLs) bend and generate thrust in granular mediums to scape heat and hunt for prey [1]. Further, SLs seems to have striking capabilities to swim in undulatory form keeping the same wavelength even in terrains with different volumetric densities, hence behaving as rigid bodies. This paper tries to recommend new research directions for planetary robotics, adapting principles of sand swimmers for improving robustness of surface exploration robots. First, we summarize previous efforts on bio-inspired hardware developed for granular terrains and accessing complex geological features. Later, a rigid wheel design has been proposed to imitate SLs locomotion capabilities. In order to derive the force models to predict performance of such bio-inspired mobility system, different approaches as RFT (Resistive Force Theory) and analytical terramechanics are introduced. Even in typical wheeled robots the slip and sinkage increase with time, the new design intends to imitate traversability capabilities of SLs, that seem to keep the same slip while displacing at subsurface levels.

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“…Robots having wall climbing capabilities with payloads such as cameras can be very useful in a wide range of applications like surveillance, reconnaissance, cleaning, repairing, and entertainment [1]. For example, consider a hostage situation where terrorists have captured a few innocent people, as depicted in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

Development of a Lizard-Inspired Wall-Climbing Robot Using Pressure Sensitive Adhesion

et al. 2022

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This paper presents the design, fabrication, and control of a quadruped wall-climbing robot. The robot's kinematics is inspired by lizards, which use trot-gait for the locomotion. The key features of this robot are its pressure-sensitive adhesive (PSA) enabled adhesion and peeling mechanism and the locomotion controller capable of straight and turning motion. We obtained an average vertical climbing speed of 1.35 cm/s without payload and 1.25 cm/s with a payload of 20 gm. Rapid prototyping techniques namely 3D-printing and 2D-LASER cutting are used to fabricate the entire structure of the robot, allowing easy replication of the entire robot in case a swarm of such robots is needed. This paper also reports climbing stability criteria for the developed robot expressed in terms of the pitching moment. We envisage that the developed robot can be deployed in surveillance, reconnaissance, cleaning, and repairing applications.

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Adhesion Technologies of Bio-Inspired Climbing Robots: A Survey

Cited by 17 publications

References 27 publications

Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

Towards bio-inspired robots for underground and surface exploration in planetary environments: An overview and novel developments inspired in sand-swimmers

Development of a Lizard-Inspired Wall-Climbing Robot Using Pressure Sensitive Adhesion

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