Foot design and integration for bioinspired climbing robots

Spenko, Matthew; Cutkosky, Mark; Majidi, Carmel; Fearing, Ronald; Groff, Richard; Autumn, Keller

doi:doi:10.1117/12.665874

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Proceedings / Volume 6230 / Bio-Inspired and Soft Robots

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Foot design and integration for bioinspired climbing robots

Proc. SPIE 6230, 623019 (2006); doi:10.1117/12.665874

Monday 17 April 2006

Orlando (Kissimmee), FL, USA

Unmanned Systems Technology VIII

Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage

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Abstract

Matthew Spenko and Mark Cutkosky

Stanford Univ.

Carmel Majidi, Ronald Fearing, and Richard Groff

Univ. of California/Berkeley

Keller Autumn

Lewis and Clark College

Climbing animal's feet use combinations of interlocking and bonding mechanisms in a staggering array of designs. The most successful climbers' feet exhibit a complex hierarchy of varied mechanical structures at multiple scales, combining small appendages that generate shear or adhesive forces with compliant suspension systems that promote intimate contact with surfaces. Recent progress is presented in mechanical and materials design that integrates novel dry adhesive and microspine structures mounted on passively compliant suspensions into successively improved generations of feet targeted at the RiSE (Robots in Scansorial Environments) family of climbing robots. The current version can ascend 90° carpeted, cork covered and a growing range of stucco surfaces in the quasi-static regime. Specifications of a "public interface" for integrating a broad range of synthetic appendages into the foot assemblies are presented in the hopes of encouraging as large as possible a community of MEMs and Nanomaterials designers to submit adhesive or friction enhancing materials for operational tests using the robot.

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Online May 09, 2006

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http://dx.doi.org/10.1117/12.665874

Citation

Matthew Spenko, Mark Cutkosky, Carmel Majidi, Ronald Fearing, Richard Groff and Keller Autumn, "Foot design and integration for bioinspired climbing robots", Proc. SPIE 6230, 623019 (2006); doi:10.1117/12.665874