NDLI: Geckobot: a gecko inspired climbing robot using elastomer adhesives

Content Provider	IEEE Xplore Digital Library
Author	Unver, O. Uneri, A. Aydemir, A. Sitti, M.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA (Unver, O.)
Abstract	In this paper, the design, analysis, and fabrication of a gecko-inspired climbing robot are discussed. The robot has kinematics similar to a gecko's climbing gait. It uses peeling and steering mechanisms and an active tail for robust and agile climbing as a novelty. The advantage of this legged robot is that it can explore irregular terrains more robustly. Novel peeling mechanism of the elastomer adhesive pads, as well as steering and stable climbing using an active tail are explored. The design, fabrication, analysis and test of the robot are reported. Experimental results of walking and climbing up to 85deg sloped acrylic surfaces as well as successful steering and peeling mechanism tests are demonstrated. The potential applications foreseen for this kind of robots are inspection, repair, cleaning, and exploration
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	2329
Ending Page	2335
File Size	1675038
Page Count	7
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642050
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Climbing robots Adhesives Magnetosphere Robustness Orbital robotics Tail Rough surfaces Surface roughness Mechanical engineering Fabrication
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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