Evolution of a Modular Limbless Crawling and Climbing Robot

Abstract

Terrestrial locomotion is fundamentally classified into three sorts: wheeled, legged, and limbless. In this paper a systematic approach has been made to develop a less expensive, off-road and self-governing crawling-climbing robot. The proposed design of the robot is limbless and modular which provides an opportunity to perform different locomotion by taking inspiration from biological systems. In the present study, two different variants of the modular limbless robot have been discussed with two different locomotion gaits which have been presented and illustrated through multiple experiments. The climbing environment is confined in a ferromagnetic flat plane by providing switchable electromagnets to the front and rear modules. Finally, a brief comparison between 2D and 3D body undulation has also been carried out.

Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements

“…Some studies [31] deal with the classification of WCR types and how they might be used to make better applications. WCRs are cautious of curvatures and gaps, so identification and detection play a key role in making WCRs work effectively [32], and all of this is listed and discussed [33], as well as the evolution of crawling and climbing robots like gecko, inch worm, and others that take inspiration from biological systems [38,47,48,50,54], and Pipeline climbing robots [42,55] use worm-like locomotion to provide high locomotion and help the robot stick to the wall [39], magnetic adhesion will be the strongest force attraction even in water, and Omni-directional robots use advanced propeller mechanisms to provide high locomotion and help the robot stick to the wall [39]. The use of both types of magnets in combination is likewise regarded as an innovative technique [44].…”