ICRA'09 Paper Abstract


Paper FrB11.3

Unver, Ozgur (Carnegie Mellon University), Sitti, Metin (Carnegie Mellon University)

Tankbot: A Miniature, Peeling Based Climber On Rough and Smooth Surfaces

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots - II" (FrB11), Friday, May 15, 2009, 11:10−11:30, Room: 503

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Biologically-Inspired Robots, Biomimetics


Tankbot is a simple, energy efficient, lightweight (60 g), and robust climbing robot. It uses the continuous detachment force (peeling) of the flat, bulk tacky elastomer tread to climb. An optimum peeling angle with a preliminary analysis of the pretension effect, and the tread force distributions are presented. A passive tail transfers the peeling force from the rear wheel to the front and ensures intimate continuous contact with the surface. Tankbot works in any orientation on smooth surfaces, such as glass and acrylic , of all slope angles (i.e. 0−360 degrees). However, the robot can only work vertically on relatively rough surfaces in any direction, such as wood, metal, painted wall, and painted brick. Tankbot can carry a payload of up to 0.4 N and 1 N on inverted and vertical surfaces respectively. In addition, the robot can go over obstacles up to 15 mm tall on smooth vertical surfaces. Internal transitioning from horizontal to vertical and vertical to horizontal and external transitioning from vertical to the horizontal is also achieved. The potential applications of this robot include inspection, exploration, maintenance, cleaning, repair, and search and rescue.escue in both earth and space environments.



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