Dynamic climbing of near-vertical smooth surfaces

Paul Birkmeyer, Andrew G. Gillies, Ronald S. Fearing
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A 10 cm hexapedal robot is adapted to dynamically climb near-vertical smooth surfaces. A gecko-inspired adhesive is mounted with an elastomer tendon and polymer loop to a remote-center-of-motion ankle that allows rapid engagement with the surface and minimizes peeling moments on the adhesive. The maximum velocity possible while climbing decreases as the incline gets closer to vertical, with the robot able to achieve speeds of 10 cm second −1 at a 70-degree incline. A model is implemented to
more » ... implemented to describe the effect of incline angle on climbing speed and, together with high-speed video evidence, reveals that climbing velocity is limited by robot dynamics and adhesive properties and not by power.
doi:10.1109/iros.2012.6385775 dblp:conf/iros/BirkmeyerGF12 fatcat:kbvkj6cdtzf5tfl76d3nstlq4m