Design and Implementation of Hybrid-Climbing Legged Robot

Abstract

In this paper, the hybrid-climbing legged robot is designed, implemented, and practically tested. The robot has four legs arranged symmetrically around the body were designed for climbing wire mesh fence. Each leg in robot has 3DOF which makes the motion of the robot is flexible. The robot can climb the walls vertically by using a unique design of gripper device included metal hooks. The mechanism of the movement is a combination of two techniques, the first is the common way for the successive movement like gecko by using four limbs, and the second depending on the method that used by cats for climbing on the trees using claws, for this reason, the robot is named hybrid-climbing legged robot. The movement mechanism of the climbing robot is achieved by emulating the motion behavior of the gecko, which helped to derive the kinematic equations of the robot. The robot was practically implemented by using a microcontroller for the mainboard controller while the structure of the robot body is designed by AutoCAD software. Several experiments performed in order to test the success of climbing on the vertical wire mesh fence.

Dactyls and inward gripping stance for amphibious crab-like robots on sand

“…Researchers are developing robots that have hooks along the contact area to distribute the force among the surface [45][46][47]. Others depend on grippers that use specific instances of spines to grab materials that they are climbing on [48][49][50]. These methods reinforce the benefits of spreading the force to create a grip that supports the robot.…”

Get a grip: inward dactyl motions improve efficiency of sideways-walking gait for an amphibious crab-like robot

“…Since then, other robots such as the surface grasper designs of Hawkes et al [20] and Palmer III et al's DIGbot [21] have utilized this concept to demonstrate the ability to resist gravitational forces when climbing complex surfaces. Robots such as Spinyhand [22], RoboSimian [23], the Spiny Toe [24], the hybrid climbing robot [25], a bio-inspired wall-climbing robot [26], Li et al's climbing robot [27], and a grappling-hook-like claw system [28] utilize spines to penetrate and attach themselves to climbing surfaces.…”