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— Stickybot is a bio-inspired robot that climbs smooth vertical surfaces such as glass, plastic and ceramic tile at 4 cm/s. The robot employs several design principles adapted from the gecko including a hierarchy of compliant structures, directional adhesion, and control of tangential contact forces to achieve control of adhesion. We describe the design and(More)
— We describe the design and control of a new bio-inspired climbing robot designed to scale smooth vertical surfaces using directional adhesive materials. The robot, called Stickybot, draws its inspiration from geckos and other climbing lizards and employs similar compliance and force control strategies to climb smooth vertical surfaces including glass,(More)
— Climbing robots are especially susceptible to thermal overload during normal operation, due to the need to oppose gravity and to frequently apply internal forces for clinging. As an alternative to setting conservative limits on the motor peak and average current, we investigate methods for measuring motor temperatures, predicting motor thermal conditions(More)
— The priorities of a climbing legged robot are to maintain a grasp on its climbing surface and to climb efficiently against the force of gravity. These priorities profoundly constrain the choice of gaits and gait regulation methods. We propose a gait regulation and analysis method that varies foot detachment timing, effectively modifying stride length and(More)
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