TY - GEN
T1 - Geckobot
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
AU - Unver, Ozgur
AU - Uneri, Ali
AU - Aydemir, Alper
AU - Sitti, Metin
PY - 2006
Y1 - 2006
N2 - In this paper, the design, analysis, and fabrication of a gecko-inspired climbing robot are discussed. The robot has kinematics similar to a gecko's climbing gait. It uses peeling and steering mechanisms and an active tail for robust and agile climbing as a novelty. The advantage of this legged robot is that it can explore irregular terrains more robustly. Novel peeling mechanism of the elastomer adhesive pads, as well as steering and stable climbing using an active tail are explored. The design, fabrication, analysis and test of the robot are reported. Experimental results of walking and climbing up to 85° sloped acrylic surfaces as well as successful steering and peeling mechanism tests are demonstrated. The potential applications foreseen for this kind of robots are inspection, repair, cleaning, and exploration.
AB - In this paper, the design, analysis, and fabrication of a gecko-inspired climbing robot are discussed. The robot has kinematics similar to a gecko's climbing gait. It uses peeling and steering mechanisms and an active tail for robust and agile climbing as a novelty. The advantage of this legged robot is that it can explore irregular terrains more robustly. Novel peeling mechanism of the elastomer adhesive pads, as well as steering and stable climbing using an active tail are explored. The design, fabrication, analysis and test of the robot are reported. Experimental results of walking and climbing up to 85° sloped acrylic surfaces as well as successful steering and peeling mechanism tests are demonstrated. The potential applications foreseen for this kind of robots are inspection, repair, cleaning, and exploration.
UR - http://www.scopus.com/inward/record.url?scp=33845604041&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845604041&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1642050
DO - 10.1109/ROBOT.2006.1642050
M3 - Conference contribution
AN - SCOPUS:33845604041
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2329
EP - 2335
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -