Survey on Bioinspired Adhesive Methods and Design and Implementation of A Multi-Mode Biomimetic Wall-Climbing Robot

Wall-climbing robot is an essential branch of robotics, and the adhesive method is the key technology. Nowadays, suction cups, magnets and grippers are three conventional modes for adhering. However, there are many limitations of the traditional methods, which make it difficult for the wall-climbing robots to adapt to most of the complicated environments. Bionics gives us inspiration to solve the limitation problems of conventional wall-climbing robots, and biomimetic wall-climbing robots have become a hot research area. Spiny feet and dry adhesives are two main bioinspired adhesive methods applied into wall-climbing robots, and relevant research status and development situation have been surveyed. In order to improve the adaption of biomimetic wall-climbing robots to both smooth and rough surfaces, we have developed a brand new multi-mode biomimetic wall-climbing robot employing four modes: spiny wheels, adhesive treads, spiny treads and a suction cup, which can switch different modes to conform to different terrains. The robot employs spiny wheels and spiny treads while meeting with rough surfaces and employs adhesive treads while encountering smooth surfaces. And a suction cup is applied all the time for assistive adhesive function. Design and prototype experiment about this robot have been represented.