Journal
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING-GREEN TECHNOLOGY
Volume 4, Issue 3, Pages 273-280Publisher
KOREAN SOC PRECISION ENG
DOI: 10.1007/s40684-017-0033-y
Keywords
Quadruped robot; Hoekens linkage; Biomimetics; Gecko; Dry adhesive; 3D printing
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Funding
- Mid-Career Researchers Supporting Program through the National Research Foundation of Korea (NRF) [2016R1A2B20.14044]
- Fire Fighting Safety & 119 Rescue Technology Research and Development Program - Ministry of Public Safety and Security [MPSS-FFS-2015-72]
- National Disaster Management Research Institute (NDMI), Republic of Korea [2015-MPSS25-017-01020000-2017] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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Gecko lizards have superior locomotive capabilities to walk on ceilings and walls of varying angles. Furthermore, their skin has superior water-repellency due to hierarchical hairy structures on it. With these remarkable capabilities, their wide range of locomotion is effective even in rainy and wet environments, leading to enhanced survival capabilities. Current wall climbing robots have limited abilities in locomotion and surface functionalities compared to gecko lizards. In this paper, we present a gecko-inspired quadruped robot that can walk on ceilings and varying angled walls. Furthermore, the surface of the robot is coated with nanoparticles, enabling superior water repellency, similar to the gecko lizard. The quadruped robot is manufactured using a 3D printing technique with minimal materials in a rapid, facile, and environment-friendly manner.
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