Climbing Mini-Whegs™
Climbing Mini-Whegs™ scales vertical glass surfaces using compliant, adhesive feet. Like all
Mini-Whegs™ Robots,
it has one drive motor that turns all four wheel-legs in an alternating diagonal gait.
IROS_video.mpg
The following high-speed video show how the four-spoked wheel-legs apply and gradually peel the adhesive feet (in this case Scotch® tape).
MiniWhegs_HiSpeed.avi
With a novel adhesive manufactered by the Gottlieb Binder Company in collaboration with
the Max-Planck Institute
, the robot is capable of climbing vertical surfaces with the addition of a long tail.
Vertical_Climb_9-8-05.avi
On a 60-degree incline the robot requires a shorter tail, but can transistion around the external angle.
60_degree_incline.avi
Publications:
- Daltorio K.A., Horchler A.D., Gorb S., Ritzmann R.E. and Quinn R.D. (2005) "
A Small Wall-Walking Robot with Compliant, Adhesive Feet," Int. Conf. on Intelligent Robots and Systems (IROS '05), Edmonton, Canada.
- Daltorio K.A., Gorb S., Peressadko A., Horchler A.D., Ritzmann R.E. and Quinn R.D. (2005) "
A Robot that Climbs Walls using Micro-structured Polymer Feet," International Conference on Climbing and Walking Robots (CLAWAR), London, U.K., Sept. 13-15, 2005.
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