Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles
Journal of Intelligent and Robotic Systems
A miniature ceiling walking robot with flat tacky elastomeric footpads
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Climbing rough vertical surfaces with hierarchical directional adhesion
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Thermally constrained motor operation for a climbing robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Concept evaluation of a new biologically inspired robot "Littleape"
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Design of a wall-climbing hexapod for advanced maneuvers
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Flat dry elastomer adhesives as attachment materials for climbing robots
IEEE Transactions on Robotics
Tankbot: A Palm-size, Tank-like Climbing Robot using Soft Elastomer Adhesive Treads
International Journal of Robotics Research
Waalbot II: Adhesion Recovery and Improved Performance of a Climbing Robot using Fibrillar Adhesives
International Journal of Robotics Research
The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion
International Journal of Robotics Research
Landing, perching and taking off from vertical surfaces
International Journal of Robotics Research
Biomechatronics for embodied intelligence of an insectoid robot
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
Biologically inspired tree-climbing robot with continuum maneuvering mechanism
Journal of Field Robotics
Bio-inspired caterpillar-like climbing robot
Living Machines'13 Proceedings of the Second international conference on Biomimetic and Biohybrid Systems
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Stickybot is a bioinspired robot that climbs smooth vertical surfaces such as glass, plastic, and ceramic tile at 4 cm/s. The robot employs several design principles adapted from the gecko including a hierarchy of compliant structures, directional adhesion, and control of tangential contact forces to achieve control of adhesion. We describe the design and fabrication methods used to create underactuated, multimaterial structures that conform to surfaces over a range of length scales from centimeters to micrometers. At the finest scale, the undersides of Stickybot's toes are covered with arrays of small, angled polymer stalks. Like the directional adhesive structures used by geckos, they readily adhere when pulled tangentially from the tips of the toes toward the ankles; when pulled in the opposite direction, they release. Working in combination with the compliant structures and directional adhesion is a force control strategy that balances forces among the feet and promotes smooth attachment and detachment of the toes.