A Gecko-Inspired Electroadhesive Wall-Climbing Robot

Abstract

Geckos can climb fast on vertical wall surfaces, whether dry or wet, smooth or rough. The principles of a gecko?s attachment abilities have been studied in detail, and wall-climbing robots based on the biomimetic adhesion of geckos have been proposed. However, the synthetic dry fibrillar adhesive that mimics the gecko?s adhesive footpad is still under development and does not yet achieve as high performances as a gecko. This adhesion method has some disadvantages, such as low payload and sensitivity to surface contaminants involving dust. Many studies have been conducted on the bionic design of robots to simulate a gecko?s motion but using other adhesive mechanisms instead. By combining the gecko?s motion modes and the specific adhesive mechanisms, various novel wall-climbing robots can be envisioned.