Publication: Wall-climbing performance of gecko-inspired robot with soft feet and digits enhanced by gravity compensation
Wall-climbing performance of gecko-inspired robot with soft feet and digits enhanced by gravity compensation
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Wang, B., Weng, Z., Wang, H., Wang, S., Wang, Z., Dai, Z., & Jusufi, A. (2024). Wall-climbing performance of gecko-inspired robot with soft feet and digits enhanced by gravity compensation. Bioinspiration & Biomimetics, 19(5), 056001. https://doi.org/10.1088/1748-3190/ad5899
Abstract
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Abstract
Gravitational forces can induce deviations in body posture from desired configurations in multi-legged arboreal robot locomotion with low leg stiffness, affecting the contact angle between the swing leg’s end-effector and the climbing surface during the gait cycle. The relationship between desired and actual foot positions is investigated here in a leg-stiffness-enhanced model under external forces, focusing on the challenge of unreliable end-effector attachment on climbing surfaces in such robots. Inspired by the difference in ceilin
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- Wang, Bingcheng
- Weng, Zhiyuan
- Wang, Haoyu
- Wang, Shuangjie
- Wang, Zhouyi
- Dai, Zhendong
- Jusufi, Ardian
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Wang, B., Weng, Z., Wang, H., Wang, S., Wang, Z., Dai, Z., & Jusufi, A. (2024). Wall-climbing performance of gecko-inspired robot with soft feet and digits enhanced by gravity compensation. Bioinspiration & Biomimetics, 19(5), 056001. https://doi.org/10.1088/1748-3190/ad5899
