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Mini-WhegS™ climbing steep surfaces with insect-inspired attachment mechanisms | IEEE Conference Publication | IEEE Xplore

Mini-WhegS™ climbing steep surfaces with insect-inspired attachment mechanisms


Abstract:

We previously presented a remote-controlled robot, Climbing Mini-Whegstrade, which scales vertical glass walls using passive compliant feet on simple rotating wheel-legs ...Show More

Abstract:

We previously presented a remote-controlled robot, Climbing Mini-Whegstrade, which scales vertical glass walls using passive compliant feet on simple rotating wheel-legs [1]. With a single drive motor, the legs of the robot press the feet against the glass, then gradually peel them away, mimicking the foot motions observed in insects. With feet made of scotch tape, the robot was able to walk on glass walls and ceilings and transition between surfaces intersecting at interior angles. This paper demonstrates that using passively compliant feet on simple rotating wheel-legs a robot can apply adhesive feet, spines, and Velcro in order to climb various steep substrates.
Date of Conference: 29 October 2007 - 02 November 2007
Date Added to IEEE Xplore: 10 December 2007
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Conference Location: San Diego, CA, USA

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