Toward Micro Wall-Climbing Robots Using Biomimetic Fibrillar Adhesives

Abstract— Climbing is a challenging task for autonomous mobile robots primarily due to requirements for agile locomotion, and high maneuverability as well as robust and efficient attachment and detachment. A novel miniature wall-climbing robot is proposed. The robot is adapted for the wall-climbing task by taking advantage of down scaling and its low design. Challenges encountered during robot miniaturization and performances of the robot are reported. The miniature robot prototype proved to be able to climb on inclined surfaces with a slope of up to 90° at a speed of 3.3mm/s. It is equipped with sensors that enable it to avoid obstacles, follow walls and detect free-falls. It can be controlled by remote control or act autonomously. Animals, such as Geckos, have developed amazing climbing ability through micro- and nano-fibers on their feet. These structures have inspired the study of dry adhesion and the design of synthetic fibrillar pads presented in the paper.

• Type: Conference
• Year: 2005
• Where: AMIRE
• Authors: Matthias Greuter, Gaurav Shah, Gilles Caprari, Fabien Tâche, Roland Siegwart, Metin Sitti
• Keywords: AMIRE 2005, Miniature Robot Prototype, Miniature Wall-climbing Robot, Robot, Robotics