A Pin-Array Structured Climbing Robot for Stable Locomotion on Steep Rocky Terrain
This provides a practical solution for climbing robots in unstructured environments, though it is incremental as it builds on existing passive compliance concepts.
The researchers tackled the problem of climbing robots struggling with unstable attachment on irregular surfaces by developing a robot with compliant pin-array grippers that passively conform to terrain, resulting in stable locomotion on inclined walls up to 30 degrees and natural rocky terrain.
Climbing robots face significant challenges when navigating unstructured environments, where reliable attachment to irregular surfaces is critical. We present a novel mobile climbing robot equipped with compliant pin-array structured grippers that passively conform to surface irregularities, ensuring stable ground gripping without the need for complicated sensing or control. Each pin features a vertically split design, combining an elastic element with a metal spine to enable mechanical interlocking with microscale surface features. Statistical modeling and experimental validation indicate that variability in individual pin forces and contact numbers are the primary sources of grasping uncertainty. The robot demonstrated robust and stable locomotion in indoor tests on inclined walls (10-30 degrees) and in outdoor tests on natural rocky terrain. This work highlights that a design emphasizing passive compliance and mechanical redundancy provides a practical and robust solution for real-world climbing robots while minimizing control complexity.