Intelligent Rock-Climbing Robot Capable of Multimodal Locomotion and Hybrid Bioinspired Attachment.

ABSTRACT: Rock-climbing robots have significant potential in fieldwork and planetary exploration. However, they currently face limitations such as a lack of stability and adaptability on extreme terrains, slow locomotion, and single functionality. This study introduces a novel multimodal and adaptive rock-climbing robot (MARCBot), which addresses these limitations through spiny grippers that draw inspiration from morpho-functionalities observed in beetles, arboreal birds, and hoofed animals. This hybrid bioinspired design enables high attachment strength, passive adaptability to different terrains, and quick attachment on rock surfaces. The multimodal functionality of the gripper allows for attachment during climbing and support during walking. A novel control strategy using dynamics and quadratic p

SUBMITTER: Zi P 

PROVIDER: S-EPMC11497113 | biostudies-literature | 2024 Oct

REPOSITORIES: biostudies-literature