IROS 2015 Paper Abstract


Paper WeDT9.1

Breckwoldt, William (Case Western Reserve University), Daltorio, Kathryn A (Case Western Reserve University), Heepe, Lars (Kiel University), Horchler, Andrew (Case Western Reserve University), Gorb, Stanislav N (Zoological Institute at the University of Kiel), Quinn, Roger, D. (Case Western Reserve University)

Walking Inverted on Ceilings with Wheel-Legs and Micro-Structured Adhesives

Scheduled for presentation during the Regular session "Climbing Robots" (WeDT9), Wednesday, September 30, 2015, 14:00−14:15, Saal C3

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on October 16, 2021

Keywords Climbing Robots, Biologically-Inspired Robots, Space Robotics and Automation


Gecko-inspired structured adhesives will be valuable for novel climbing and space robots. Robots also provide useful evaluation platforms for these adhesives. Climbing robots need to be lightweight, and thus many designs use multiple feet on a single rotating wheel-leg. Generally, such designs have not been able to walk robustly on steeper than vertical substrates. In this work, we use an improved version of our previous Mushroom-Shaped Adhesive MicroStructured (MSAMS) tape to support a power-autonomous robot reliably walking inverted on glass ceilings. The resulting speeds are greater than one body/length per second, faster than other adhesion-based climbing prototypes. The printed robot design is also a contribution toward future robotic designs and will have future applications in testing new adhesives for robotic feet.



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