Geckobot: a gecko inspired climbing robot using elastomer adhesives

Ünver, Özgür; Uneri, Ali; Aydemir, Abdurrahman; Sitti, Metin

doi:10.1109/robot.2006.1642050

Cited by 130 publications

(111 citation statements)

References 6 publications

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“…Using fiber arrays, adhesive pads that generate relatively higher adhesion force in one direction and lower in the opposite direction have been developed. By utilizing these adhesive pads, wall climbing robots called Geckobot and Waalbot have been implemented, and the effectiveness of the robots has been demonstrated through experiments [101][102][103][104][105][106][107][108].…”

Section: Bio-inspired Adhesionmentioning

confidence: 99%

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

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Abstract:In recent decades, skyscrapers, as represented by the Burj Khalifa in Dubai and Shanghai Tower in Shanghai, have been built due to the improvements of construction technologies. Even in such newfangled skyscrapers, the façades are generally cleaned by humans. Wall climbing robots, which are capable of climbing up vertical surfaces, ceilings and roofs, are expected to replace the manual workforce in façade cleaning works, which is both hazardous and laborious work. Such tasks require these robotic platforms to possess high levels of adaptability and flexibility. This paper presents a detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use. This paper concludes by expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass façade cleaning robot towards facilitating targeted future research with clear technical goals and well-defined design trade-off boundaries.

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Section: Bio-inspired Adhesionmentioning

confidence: 99%

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

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“…• acrylic surfaces [18]. He et al developed a novel wet adhesion pad for wall-climbing robots which can climb up to more than 80…”

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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“…PDMS with 3% content of glass bubbles for neutral buoyancy was used to made passive membrane on trailing edges of pectoral fi ns in manta ray robot 10 . Another bio-inspired robot is gecko-like climbing robot, which has PDMS adhesive footpads 11 . There are also a few works about pneumatic or hydraulic actuators made of PDMS.…”

mentioning

confidence: 99%

Novel biocompatible transversal pneumatic artificial muscles made of PDMS/PET satin composite

Szmechtyk

Sienkiewicz

Koter

et al. 2016

Polish Journal of Chemical Technology

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In this study novel transversal pneumatic artifi cial muscles (TPAM), made from composite -poly(dimethylsiloxane) (PDMS) matrix membrane and poly(ethylene terephthalate) (PET) satin reinforcement, are presented. Miniature TPAM consists of a fl exible internal braid (IB) reinforcing the membrane and the external braid (EB). EB, with fi bers arranged transversely to the IB, is placed laterally. Differently prepared TPAMs were tested for their effectiveness as actuators for robot drive and the PDMS/PET composite suitability was evaluated for applications in human gastrointestinal tract (chemical resistance, thermal characteristic). FT-IR spectra of the composite were compared for study PDMS impregnation process of PET satin and effect of immersion in selected solution. The composite shows outstanding biocompatibility and the muscles have competitive static load characteristics in comparison with other pneumatic artifi cial muscles (PAM). These results lead to believe, that in the near future painless examination of the gastrointestinal tract using a secure robot will be possible.

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Geckobot: a gecko inspired climbing robot using elastomer adhesives

Cited by 130 publications

References 6 publications

A Survey of Wall Climbing Robots: Recent Advances and Challenges

A Survey of Wall Climbing Robots: Recent Advances and Challenges

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

Novel biocompatible transversal pneumatic artificial muscles made of PDMS/PET satin composite

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