A Biomimetic Climbing Robot Based on the Gecko |
| |
Authors: | Menon Carlo Sitti Metin |
| |
Affiliation: | aCarnegie Mellon University, Pittsburgh, Pennsylvania 15213-389, USA |
| |
Abstract: | The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as surveillance, inspection, repair, cleaning, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two climbing robots which mimic the gait of the gecko. The first robot is designed considering macro-scale operations on Earth and in space. The second robot, whose motion is controlled using shape memory alloy actuators, is designed to be easily scaled down for micro-scale applications. Proposed bionic systems can climb up 65 degree slopes at a speed of 20 mm·s?1. |
| |
Keywords: | gecko robotics biomimetics climbing space memory alloy |
本文献已被 CNKI 万方数据 ScienceDirect 等数据库收录! |
|