Geckobot: A gecko inspired climbing robot using elastomer adhesives

Ozgur Unver, Ali Uneri, Alper Aydemir, Metin Sitti

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 85° 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.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages2329-2335
Number of pages7
DOIs
StatePublished - Dec 27 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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