Design and experiment of a bioinspired wall-climbing robot using spiny grippers

Abstract

This paper proposes the design and experiment of a bioinspired wall-climbing robot with spiny arrays. Inspired by the Serica orientalis Motschulsky's tarsal system, a spiny structure is designed, and the robot's foot which has two grippers using the structure is designed. An inchworm-like gait is employed and its trajectory is planned. The robot's foot as well as the whole prototype is fabricated and tested. It is verified that the foot has remarkable adhesive ability and the robot can scale vertical and inverted rough surfaces including the ceiling.