Abigaille ii: Toward the development of a spider-inspired climbing robot

Authors:
Yasong Li;Ausama Ahmed;Dan Sameoto;Carlo Menon
Affiliations:
Menrva group, school of engineering science, simon fraser university, canada;Menrva group, school of engineering science, simon fraser university, canada;Menrva group, school of engineering science, simon fraser university, canada and department of mechanical engineering, university of alberta, canada;Menrva group, school of engineering science, simon fraser university, canada
Venue:
Robotica
Year:
2012

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Abstract

This paper presents a novel robotic platform, Abigaille II, designed to climb vertical surfaces using dry adhesion. Abigaille II is a lightweight hexapod prototype actuated by 18 miniaturized motors. The robot's feet consist of adhesive patches, which have microhairs with mushroom-shaped caps fixed on the top of millimeter-scale flexible posts. A pentapedal gait is used to climb flat vertical surfaces as this gait maximizes the number of legs in contact to the surface. Abigaille can however also walk by using other gaits, including the tripod gait.