A Biomimetic Climbing Robot Based on the Gecko

查看全文 作　　者：Carlo [1]Menon;Metin [1]Sitti 机构地区：[1]Carnegie Mellon University, Pittsburgh, Pennsylvania 15213-389, USA 出　　处：《Journal of Bionic Engineering》索引2006年第3卷第3期,共11页 摘　　要：The excellent climbing performance of the gecko is inspiring engineers and researchers for the design of artificial systems aimed at moving on vertical surfaces. Climbing robots could perform many useful tasks such as surveillance, inspection, repair, cleaning, and exploration. This paper presents and discusses the design, fabrication, and evaluation of two climbing robots which mimic the gait of the gecko. The first robot is designed considering macro-scale operations on Earth and in space. The second robot, whose motion is controlled using shape memory alloy actuators, is designed to be easily scaled down for micro-scale applications. Proposed bionic systems can climb up 65 degree slopes at a speed of 20 mm·s?1. 关 键 词：仿生攀登机器人 壁虎 机器人技术 形状记忆合金