Milli-Scale, Biomimetic Platform for Climbing on a Rough Surface
Small multi-legged animals that can climb vertical walls with a rough surface have inspired research on climbing locomotion. This work proposes a novel design for a small and lightweight climbing robot that uses a single actuator.
To guarantee reliable wall climbing, the contact phase of two tripods should overlap. A quick return leg is designed to enable phase overlap without requiring an extra actuator. Alternating tripods are also designed, and small compliant spine mechanism capable of rapid engagement. Layer-based fabrication is used to reduce weight. The resulting biomimetic platform is 10cm long and 10.8g in weight and can climb up a near-vertical brick wall at a rate of 5.57mm/sec.
Related papers and patents
Hong-Cheol Choi, Gwang-pil Jung, and Kyu-Jin Cho, “Design of a Milli-Scale, Biomimetic Platform for Climbing on a Rough Surface”, Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015. [PDF]