Foot design and integration for bioinspired climbing robots

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

doi:10.1117/12.665874

9 May 2006 Foot design and integration for bioinspired climbing robots

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

Proceedings Volume 6230, Unmanned Systems Technology VIII; 623019 (2006) https://doi.org/10.1117/12.665874
Event: Defense and Security Symposium, 2006, Orlando (Kissimmee), Florida, United States

Abstract

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.

Citation Download 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, Unmanned Systems Technology VIII, 623019 (9 May 2006); https://doi.org/10.1117/12.665874

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available