A Bio-Inspired Small-Sized Wall-Climbing Caterpillar Robot

Abstract

Applications 2 the beginning of section 3, we investigate the climbing locomotion mechanism adopted by caterpillars. Based on this, our on-going climbing robotic project will be introduced. Different aspects including system design, mechanical implementation and control realization will be presented in detail. Although we designed two climbing caterpillar robotic configurations, the simpler inchworm configuration is the focus for discussion in this paper. After pointing out future work, our conclusions are given in the end.