A Novel Worm-inspired Wall Climbing Robot with Sucker-microspine Composite Structure

Yang, Wenhao; Yang, Chengle; Zhang, Ruijie; Zhang, Wenzeng

doi:10.1109/icarm.2018.8610723

Cited by 8 publications

(9 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The most important feature of wall-climbing robots is that it can significantly improve the adsorption capacity of the bristle-like structure. Earthworms in nature are unable to crawl on vertical walls, and researchers have used piezoelectric motors ( Zhou et al, 2013 ), suckers ( Yang et al, 2018 ) or electromagnetic effects ( Zhang et al, 2021a ) attach the robot to vertical walls and perform earthworm-like crawling, as shown in Figure 3A . This design allows the robot to climb vertical walls of even walls with obtuse angles, an ability that is currently lacking in conventional earthworm-inspired soft robots.…”

Section: Biological Characteristics Of Earthworms and Related Robots ...mentioning

confidence: 99%

Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot’s segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.

show abstract

Section: Biological Characteristics Of Earthworms and Related Robots ...mentioning

confidence: 99%

Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

show abstract

“…Prominent examples of research on combining different modes of attachment include a self-aligning gripper based on combining gecko-like and electrostatic adhesive mechanisms where the two modes of attachment complement each other; while the gecko-like adhesives can typically provide high adhesion force to smooth surfaces with limited ability for attachment to rough surfaces, the electrostatic adhesives can enable attachment to a wider range of materials at a lower level of adhesion [19]. In [20], a worm-inspired wall-climbing robot utilizing an anchoring mechanism based on the composition of suction cups and microspines is proposed; their experimental results on the sucker-microspine composite structure indicates a 30% increase in the frictional resistance on rougher wall surfaces, as compared with the case of using suction cups only. The above approaches were based on concurrent activation of the two modes of attachment aiming at enhancing the chance or firmness of the anchor by using a combination.…”

Section: Autonomous Decision Making In a Bioinspired Adaptive Robotic...mentioning

confidence: 99%

Autonomous Decision Making in a Bioinspired Adaptive Robotic Anchoring Module

Sadeghian

Sareh

Shahin

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

This paper proposes a bioinspired adaptive anchoring module that can be integrated into robots to enhance their mobility and manipulation abilities. The design of the module is inspired by the structure of the mouth in Chilean lamprey (Mordacia lapicida) where a combination of suction and several arrays of teeth with different sizes around the mouth opening is used for catching preys and anchoring onto them. The module can deploy a suitable mode of attachment, via teeth or vacuum suction, to different contact surfaces in response to the textural properties of those surfaces. In order to make a decision on the suitable mode of attachment, an original dataset of 500 images of outdoor and indoor surfaces was used to train a visual surface examination model using YOLOv3; a virtually real-time object detection algorithm. The mean average precision of the trained model was calculated to be 91%. We have conducted a series of pull-out tests to characterize the module's strength of attachments. The results of the experiments indicate that the anchoring module can withstand an applied detachment force of up to 70N and 30N when attached using teeth and vacuum suction, respectively.

show abstract

“…Segments/parts without such antagonistic deformability can also be utilized for robot design, providing that additional bristle structures (e.g. microspine and clamping devices ( Fang D. et al, 2018 ; Yang et al, 2019 )) are embedded to acquire anchoring effect.…”

Section: Introductionmentioning

confidence: 99%

Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability

2021

View full text Add to dashboard Cite

Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capability from 2D to 3D. Specifically, by introducing into the virtual creases, kinematics of the non-rigid-foldable Yoshimura-ori structure is systematically analyzed. In addition to exhibiting large axial deformation, the Yoshimura-ori structure could also bend toward different directions, which, therefore, significantly expands the reachable workspace and makes it possible for the robot to perform turning and rising motions. Based on prototypes made of PETE film, mechanical properties of the Yoshimura-ori structure are also evaluated experimentally, which provides useful guidelines for robot design. With the Yoshimura-ori structure as the skeleton of the robot, a hybrid actuation mechanism consisting of SMA springs, pneumatic balloons, and electromagnets is then proposed and embedded into the robot: the SMA springs are used to bend the origami segments for turning and rising motion, the pneumatic balloons are employed for extending and contracting the origami segments, and the electromagnets serve as anchoring devices. Learning from the earthworm’s locomotion mechanism--retrograde peristalsis wave, locomotion gaits are designed for controlling the robot. Experimental tests indicate that the robot could achieve effective rectilinear, turning, and rising locomotion, thus demonstrating the unique 3D locomotion capability.

show abstract

A Novel Worm-inspired Wall Climbing Robot with Sucker-microspine Composite Structure

Cited by 8 publications

References 11 publications

Actuation and design innovations in earthworm-inspired soft robots: A review

Actuation and design innovations in earthworm-inspired soft robots: A review

Autonomous Decision Making in a Bioinspired Adaptive Robotic Anchoring Module

Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability

Contact Info

Product

Resources

About