CUED Publications database

A dragline-forming mobile robot inspired by spiders.

Wang, L and Culha, U and Iida, F (2014) A dragline-forming mobile robot inspired by spiders. Bioinspir Biomim, 9. 016006-.

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Abstract

Mobility of wheeled or legged machines can be significantly increased if they are able to move from a solid surface into a three-dimensional space. Although that may be achieved by addition of flying mechanisms, the payload fraction will be the limiting factor in such hybrid mobile machines for many applications. Inspired by spiders producing draglines to assist locomotion, the paper proposes an alternative mobile technology where a robot achieves locomotion from a solid surface into a free space. The technology resembles the dragline production pathway in spiders to a technically feasible degree and enables robots to move with thermoplastic spinning of draglines. As an implementation, a mobile robot has been prototyped with thermoplastic adhesives as source material of the draglines. Experimental results show that a dragline diameter range of 1.17-5.27 mm was achievable by the 185 g mobile robot in descending locomotion from the solid surface of a hanging structure with a power consumption of 4.8 W and an average speed of 5.13 cm min(-1). With an open-loop controller consisting of sequences of discrete events, the robot has demonstrated repeatable dragline formation with a relative deviation within -4% and a length close to the metre scale.

Item Type: Article
Uncontrolled Keywords: Adhesives Animals Biomimetics Equipment Design Equipment Failure Analysis Friction Gait Locomotion Motion Robotics Silk Spiders Tensile Strength
Subjects: UNSPECIFIED
Divisions: Div F > Machine Intelligence
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:06
Last Modified: 21 Nov 2017 03:23
DOI: