Geckobot: A gecko inspired climbing robot using elastomer adhesives

Unver O., Uneri A., Aydemir A., Sitti M.

IEEE International Conference on Robotics and Automation (ICRA), Florida, United States Of America, 15 - 19 May 2006, pp.2329-2330 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/robot.2006.1642050
  • City: Florida
  • Country: United States Of America
  • Page Numbers: pp.2329-2330
  • Hacettepe University Affiliated: No


In this paper, the design, analysis, and fabrication of a gecko-inspired climbing robot are discussed. The robot has kinematics similar to a gecko's climbing gait. It uses peeling and steering mechanisms and an active tail for robust and agile climbing as a novelty. The advantage of this legged robot is that it can explore irregular terrains more robustly. Novel peeling mechanism of the elastomer adhesive pads, as well as steering and stable climbing using an active tail are explored. The design, fabrication, analysis and test of the robot are reported. Experimental results of walking and climbing up to 85 degrees sloped acrylic surfaces as well as successful steering and peeling mechanism tests are demonstrated. The potential applications foreseen for this kind of robots are inspection, repair, cleaning, and exploration.