Sciweavers

Share
IROS
2006
IEEE

Waalbot: An Agile Small-Scale Wall Climbing Robot Utilizing Pressure Sensitive Adhesives

10 years 10 months ago
Waalbot: An Agile Small-Scale Wall Climbing Robot Utilizing Pressure Sensitive Adhesives
Abstract— This paper proposes a small-scale agile wall climbing robot able to navigate on smooth surfaces of any orientation, including vertical and inverted surfaces, which uses adhesive elastomer materials for attachment. Using two actuated legs with rotary motion and two passive revolute joints at each foot the robot can climb and steer in any orientation. Due to its compact design, a high degree of miniaturization is possible. It has onboard power, sensing, computing, and wireless communication which allow for semi-autonomous operation. Various aspects of a functioning prototype design and performance are discussed in detail, including leg and feet design and gait control. The current prototype can climb 90◦ slopes at a speed of 6 cm/s and steer to any angle. This robot is intended for inspection and surveillance applications and, ultimately, space missions.
Michael P. Murphy, William Tso, Michael Tanzini, M
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Michael P. Murphy, William Tso, Michael Tanzini, Metin Sitti
Comments (0)
books