TY - JOUR

T1 - Toward a gecko-inspired, climbing soft robot

AU - Schiller, Lars

AU - Seibel, Arthur

AU - Schlattmann, Josef

N1 - Funding Information: The publication of this work was supported by the German Research Foundation (DFG) and Hamburg University of Technology (TUHH) in the funding programme Open Access Publishing. Publisher Copyright: Copyright © 2019 Schiller, Seibel and Schlattmann. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

PY - 2019/12/19

Y1 - 2019/12/19

N2 - In this paper, we present a gecko-inspired soft robot that is able to climb inclined, flat surfaces. By changing the design of the previous version, the energy consumption of the robot could be reduced, and at the same time, its ability to climb and its speed of movement could be increased. As a result, the new prototype consumes only about a third of the energy of the previous version and manages to climb slopes of up to 84◦. In the horizontal plane, its velocity could be increased from 2 to 6 cm/s. We also provide a detailed analysis of the robot's straight gait.

AB - In this paper, we present a gecko-inspired soft robot that is able to climb inclined, flat surfaces. By changing the design of the previous version, the energy consumption of the robot could be reduced, and at the same time, its ability to climb and its speed of movement could be increased. As a result, the new prototype consumes only about a third of the energy of the previous version and manages to climb slopes of up to 84◦. In the horizontal plane, its velocity could be increased from 2 to 6 cm/s. We also provide a detailed analysis of the robot's straight gait.

KW - Apriltags

KW - Climbing robot

KW - Fast pneu-nets

KW - Gecko-inspired robot

KW - Mobile soft robots

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85077388684&partnerID=8YFLogxK

U2 - 10.3389/fnbot.2019.00106

DO - 10.3389/fnbot.2019.00106

M3 - Journal articles

C2 - 31956304

AN - SCOPUS:85077388684

VL - 13

JO - Frontiers in Neurorobotics

JF - Frontiers in Neurorobotics

SN - 1662-5218

M1 - 106

ER -