Insect-Inspired Wall-Climbing Robots Utilizing Surface Tension Forces

• SUZUKI Kenji

  Kogakuin University

• NEMOTO Shusuke

  Kogakuin University

• FUKUDA Takahiro

  Kogakuin University

• TAKANOBU Hideaki

  Kogakuin University

• MIURA Hirofumi

  Kogakuin University

Abstract

This paper describes insect-inspired wall-climbing robot that is capable of walking on a smooth vertical surface utilizing surface tension forces. The adhesion mechanism of the robot is inspired from the attachment system of ants, which is responsible for a thin film of secreted liquid between the adhesive organs and the surface. Two kinds of adhesive pads made of PDMS and glass were fabricated using MEMS techniques and adhesive properties were measured. Furthermore, a hexapod robot with the adhesive pads installed on its feet was developed. The robot weighs 9.5g and walks in the alternating tripod gait. It successfully walked on vertical and inverted glass surfaces.

Journal

• Journal of Advanced Mechanical Design, Systems, and Manufacturing

  Journal of Advanced Mechanical Design, Systems, and Manufacturing 4 (1), 383-390, 2010

  The Japan Society of Mechanical Engineers

Keywords

• Insect-inspired Robot
• Meniscus Force
• Surface Tension
• MEMS

Details

• CRID: 1390282680248615424
• NII Article ID: 130000248860
• DOI: 10.1299/jamdsm.4.383
• ISSN: 18813054
• Web Site: http://www.jstage.jst.go.jp/article/jamdsm/4/1/4_1_383/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed