Climbing Mini-Whegs™
Climbing Mini-Whegs™ scales vertical glass surfaces using compliant, adhesive feet. Like all
Mini-Whegs™ Robots,
it has one drive motor that turns all four wheel-legs in an alternating diagonal gait.
IROS_video.mpg
The following high-speed video show how the four-spoked wheel-legs apply and gradually peel the adhesive feet (in this case Scotch® tape).
MiniWhegs_HiSpeed.avi
With a novel adhesive manufactered by the Gottlieb Binder Company in collaboration with
the Max-Planck Institute
, the robot is capable of climbing vertical surfaces with the addition of a long tail.
Vertical_Climb_9-8-05.avi
On a 60-degree incline the robot requires a shorter tail, but can transistion around the external angle.
60_degree_incline.avi
Publications:
- Daltorio K.A., Horchler A.D., Gorb S., Ritzmann R.E. and Quinn R.D. (2005) " A Small Wall-Walking Robot with Compliant, Adhesive Feet," Int. Conf. on Intelligent Robots and Systems (IROS '05), Edmonton, Canada.
- Daltorio K.A., Gorb S., Peressadko A., Horchler A.D., Ritzmann R.E. and Quinn R.D. (2005) " A Robot that Climbs Walls using Micro-structured Polymer Feet," International Conference on Climbing and Walking Robots (CLAWAR), London, U.K., Sept. 13-15, 2005.
- Kathryn A. Daltorio, Terence E. Wei, Stanislav N. Gorb, Roy E. Ritzmann, Roger D. Quinn (2007) "Passive Foot Design and Contact Area Analysis for Climbing Mini-Whegs™," Proceeding of the IEEE International Conference on Intelligent Robots and Systems (ICRA'07), Roma, Italy, 10-14 April 2007.
- Kathryn A. Daltorio, Timothy C. Witushynsky, Gregory D. Wile, Luther R. Palmer, Anas Ab Malek, Mohd Rasyid Ahmad, Lori Southard, Stanislav N. Gorb, Roy E. Ritzmann, Roger D. Quinn (2008) "A Body Joint Improves Vertical to Horizontal Transitions of a Wall-Climbing Robot," Proceeding of the IEEE International Conference on Intelligent Robots and Systems (ICRA'08), Pasadena, CA, U.S.A., May 19-23, 2008.
Back to Whegs™.
Back to Climbing Robots.
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