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A Gecko-Inspired Robot Employs Scaling Footpads to Facilitate Stable Attachment

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Intelligent Robotics and Applications (ICIRA 2019)

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Abstract

This paper presents the design of a legged robot with different scale of footpad that can climb with full balanced weight and on vertical surface. The adhesion performance, footpad scaling and body dynamics are explored and discussed in this paper. Results show that the robot chose a more crawling gait can maintain stability when climb with full balanced weight. Wall climbing experiments show that a gecko-inspired design principle of footpad can obtain a reliable climbing performance. The robot with different size of footpads also provides a good platform to better understand the scaling and biomechanics of surface attachment in climbing robot.

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Author information

Authors and Affiliations

  1. The 28th Research Institute of China Electronics Technology Group Corporation, Nanjing, 210007, People’s Republic of China

    Zhongyuan Wang & Kebo Deng

  2. Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, People’s Republic of China

    Zhongyuan Wang, Qingyao Bian & Zhendong Dai

  3. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, People’s Republic of China

    Qingyao Bian

Authors
  1. Zhongyuan Wang
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  2. Kebo Deng
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  3. Qingyao Bian
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  4. Zhendong Dai
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Corresponding author

Correspondence to Zhongyuan Wang .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Wang, Z., Deng, K., Bian, Q., Dai, Z. (2019). A Gecko-Inspired Robot Employs Scaling Footpads to Facilitate Stable Attachment. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11742. Springer, Cham. https://doi.org/10.1007/978-3-030-27535-8_4

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  • DOI: https://doi.org/10.1007/978-3-030-27535-8_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27534-1

  • Online ISBN: 978-3-030-27535-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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