MST-Q: Micro Suction Tape Quadruped Robot with High Payload Capacity

Abstract

Payload capacity is a crucial factor for climbing robots, as it directly affects their ability to carry and transport heavy loads during various climbing tasks. However, many dry adhesion-based legged robots prioritize foot design from a bionic perspective to accomplish various climbing tasks while overlooking payload capacity. To address this issue, a novel adhesion foot structure utilizing micro-suction tape (MST) and a detachment mechanism has been proposed. This design was implemented in the construction and experimental testing of the quadrupedal climbing robot MST-Q with a high payload carrying capacity of up to 2.8 kg for vertical climbing and 0.5 kg for inverted climbing. The robot also demonstrated the ability to traverse obstacles with a payload in the inverted climbing tasks.