Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

Abstract

Developing climbing robots for smooth vertical surfaces (e.g., glass) is one of the most challenging problems in robotics. Here, the adequate functioning of an adhesive foot is an essential factor for successful locomotion performance. Among the various technologies (such as dry adhesion, wet adhesion, magnetic adhesion, and pneumatic adhesion), bio-inspired dry adhesion has been actively studied and successfully applied to climbing robots. Thus, this review focuses on the characteristics of two different types of foot microstructures, namely spatula-shaped and mushroom-shaped, capable of generating such adhesion. These are the most used types of foot microstructures in climbing robots for smooth vertical surfaces. Moreover, this review shows that the spatula-shaped feet are particularly suitable for massive and one-directional climbing robots, whereas mushroom-shaped feet are primarily suitable for light and all-directional climbing robots. Consequently, this study can guide roboticists in selecting the right adhesive foot to achieve the best climbing ability for future robot developments.

Grand challenges in arachnid genetics and biomaterials

“…Other areas where arachnids are increasingly being seen as an inspiration in the development of novel materials includes examining spider leg movement patterns for inspiration in the development of moving robot parts (Landkammer et al, 2016), likewise the hair-like structures of spider and harvestmen feet are inspiring new adhesives for use in climbing robots, sensors, space exploration, and footwear (Wolff et al, 2014;Wolff et al, 2016;Wolff et al, 2017b;Borijindakul et al, 2021), and scorpion fluorescence molecules are inspiring the design and synthesis of molecular switches, chelates, other therapeutic molecules (Samundeeswari et al, 2021).…”

Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review

“…Dry adhesion. Borijndakul et al [ 115 ] briefly reviewed the characteristics of bio-inspired adhesive foot microstructures used on the climbing robots for smooth vertical surfaces, namely spatula-shaped feet and mushroom-shaped feet. Kalouche et al [ 116 ] developed the ACROBOT climbing robot for inspecting equipment racks in the International Space Station.…”

A gecko-inspired robot with CPG-based neural control for locomotion and body height adaptation

“…The bottom layer contains a bio-inspired adhesive material. The non-directional adhesive material was chosen as the bottom layer material because of its reliable and promising adhesive ability [18]. The microstructure [19] of the adhesive material used in the robot's foot mechanism is shown in figure 3(h).…”