A miniaturized wall-climbing segment robot inspired by caterpillar locomotion.

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Bioinspiration & biomimetics, ISSN: 1748-3190, Vol: 12, Issue: 4, Page: 046003

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Han, Il Hwan, Yi, Hoon, Song, Chang-Woo, Jeong, Hoon Eui, Lee, Seung-Yop
IOP Publishing
Biochemistry, Genetics and Molecular Biology, Engineering, climbing robot, bioinspiration, caterpillar, gecko adhesive pad, segment robot, solenoid
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article description
Caterpillars are very successful soft-bodied climbers that navigate in complex environments. This paper develops a multi-segmented robot climbing on vertical surfaces using dry adhesive pads, inspired by caterpillar locomotion. The miniaturized robot consists of four segments, and each segment uses a solenoid actuator with a permanent magnet plunger. The head and body segments adapt a novel mechanism and Scott-Russell linkages to generate a bi-directional plane motion using one solenoid actuator, resulting to reliable attaching and peeling motions of gecko pads. A tail is also attached at the back of the last segment to avoid falling or exhibiting unstable motion. Gecko-inspired adhesive pads are fabricated from polydimethylsiloxane (PDMS) with the area of 20 mm  ×  10 mm. We have conducted experiments on the locomotion performance of the segment robot climbing vertical surfaces for two types of locomotion, achieving the fast and stable climbing motion.

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