Abstract
This paper proposes a new technique that can keep a vacuum sucker to the wall without any pump, even on a slightly leaky wall condition. By pushing and pulling cyclically, an elastic sucker can be kept attached to the wall. When the sucker is pushed, air inside is exhausted, and in every time of pulling phase, the sucker keeps its vacuum in a short time. The important character is that the impulse (product of force and time) of pulling phase can be larger than that of pushing. This means multi sucker alternate push-pull system can be realized for wall climbing. This paper also demonstrate it can make a locomotion driven by adjacent wheels with keeping suckers attached to the wall.
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