Tank-like module-based climbing robot using directional and passive compliant joints
Develop a high-speed, high-payload wall climbing robot that can do many transitioning and obstacle overcoming without complex control.
Approach: The modular climbing robot composed of first module, second module, connecting links, and active tail. The first and second modules are designed as a tread-wheel mechanism made of flat sticky elastomer adhesives adopted from Tankbot. These two modules are connected by connecting links with directional and passive compliant joints. The active tail is used at the back of the robot. Combination of the compliant joints and the active tail regulate preloads to the surface during locomotion. Directional properties of the compliant joints and the active tail help the robot change the geometric configuration during transitioning and overcoming obstacles.
Current Status: Design, manufacturing, and experimentation have been done recently. I am preparing paper works based on the results.
Past Members: TaeWon Seo
Other Wall Climbing Robots
Papers: TaeWon Seo and Metin Sitti, “Two Tank-Like Module-Based Climbing Robot Using Directional and Passive Compliant Joints,” In Process.