Design of the Paw of Wall-Climbing Robot with Spiny and Sensing Function

Abstract

Abstract Paws are the key parts for wall-climbing robots to climb on vertical walls. Wall-climbing robots with spiny feet have important application value in the safety monitoring of buildings, bridges, tunnels, and other buildings. Researchers have designed a variety of spiny feet that can bear large weights and have strong adaptability. However, due to the lack of robot grasp state perception, it is difficult to complete the task normally when there are obstacles and complex walls. In this paper, according to the perceptual feedback mode of the foot of the domestic cat when climbing, a kind of paw with a spiny and sensing function is designed. The paw can give real-time feedback of the gripping force, which well copes with the failure of gripping force and helps the wall-climbing robot to cope with uncertain wall environment.