Abstract
Developing climbing robots for smooth vertical surfaces (e.g., glass) is one of the most challenging problems in robotics. Here, the adequate functioning of an adhesive foot is an essential factor for successful locomotion performance. Among the various technologies (such as dry adhesion, wet adhesion, magnetic adhesion, and pneumatic adhesion), bio-inspired dry adhesion has been actively studied and successfully applied to climbing robots. Thus, this review focuses on the characteristics of two different types of foot microstructures, namely spatula-shaped and mushroom-shaped, capable of generating such adhesion. These are the most used types of foot microstructures in climbing robots for smooth vertical surfaces. Moreover, this review shows that the spatula-shaped feet are particularly suitable for massive and one-directional climbing robots, whereas mushroom-shaped feet are primarily suitable for light and all-directional climbing robots. Consequently, this study can guide roboticists in selecting the right adhesive foot to achieve the best climbing ability for future robot developments.
Highlights
DPSs comprise an array of micro-spatula-shaped polymer features [Kim et al (2008); Figure 2B]
Stickybot I could not lift over 100% of its body weight [Hawkes et al (2015)] while, the 9 g climber could climb up a smooth vertical surface while hoisting 1000% of its body weight [Hawkes et al (2015)]
Carbonnanotube-based synthetic gecko tapes consist of thousands of synthetic spatulas with an average diameter of approximately 8 nm which can generate strong adhesion forces
Summary
Bio-inspired climbing robots have been widely studied over the past 10 years. [Daltorio et al (2005); Unver et al (2005); Daltorio et al (2006); Daltorio et al (2007a); Daltorio et al (2007b); Santos et al (2008); Sameoto et al (2008); Menon et al (2008); Daltorio et al (2008); Wile et al (2008b); Wile et al (2008a); Daltorio et al (2009); Li et al (2012); Seitz et al (2014); Tavakoli and Viegas (2015); Elbadawi et al (2018); Schiller et al (2019); Srisuchinnawong et al (2019)]. Bio-inspired climbing robots have been widely studied over the past 10 years. An essential factor for climbing robots is adhesion [Silva et al (2008)], a fundamental phenomenon in nature. Some animals can walk or climb vertical terrains and ceilings using adhesive feet, such as ladybugs, flies, spiders, and geckos. Biological adhesion can be classified into two types: wet and dry. Insects produce a liquid secretion from their feet to adhere to a substrate [Peisker and Gorb (2012); Kovalev et al (2013); Peisker et al (2014); Gilet et al (2018)]. The dry adhesion in spiders and geckos is achieved by deformable setae with. Bio-Inspired Feet of Climbing Robots adhesives could guide future improvement of robots climbing up smooth vertical surfaces
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