Inchworm-Gecko Inspired Robot with Adhesion State Detection and CPG Control.

Although many climbing robots have been developed, working stably on complex surface in narrow space still remains a challenge. In this work, we present a miniature inchworm-gecko inspired robot (IGIR) which can achieve climbing and sensing adhesion state on different kinds of surface including flat and porous surfaces. Inspired by the inchworm’s locomotion and gecko’s adhesion mechanism, we conduct the overall system design of IGIR by using servos and connecting rods to form a motion module, the negative pressure driven gecko adhesion feet as the adhesive module, and the micro three-axis force sensor as the sensing module. Facing the problem of stable adhesion perception of climbing robots, the adhesion state detection of IGIR is realized through the sensing module and detection strategy. A novel CPG control model is established to realize the periodic gait of IGIR, and the adaptive adjustment is completed by combining the adhesion state detection information. Finally, a prototype of IGIR is made. Experiments of the prototype verify the feasibility of the proposed adhesion state detection and CPG control model of IGIR. The maximum moving speed of IGIR is 24 cm/min. Over all, this paper shows the combination of adhesion detection and gait planning for climbing robot, and provides a new way to the research of climbing robot stable locomotion.