Development of claw-inspired foot structure for wall-climbing robot

Abstract

A new-style foot for wall-climbing robot was designed in claw structure,by observing hornet foot and analyzing several existed foot structure of wall-climbing robot.This kind of bio-mimetic foot was driven by a flexible cable,which grabbed the wall surface with claws.According to the locomotion mechanism of hornet tarsus chain,the foot joint,foot tarsus and claw were modified with the optimal design by finite element method(FEM).The test results indicate that,the claw-inspired foot meets the requirement(stability and reliability) of the multi-legged wall-climbing robot climbing on the rough wall.