Journal of Bionic Engineering

, Volume 15, Issue 2, pp 368–378 | Cite as

A Bio-inspired Climbing Robot with Flexible Pads and Claws

  • Aihong JiEmail author
  • Zhihui Zhao
  • Poramate Manoonpong
  • Wei Wang
  • Guangming Chen
  • Zhendong Dai


Many animals exhibit strong mechanical interlocking in order to achieve efficient climbing against rough surfaces by using their claws in the pads. To maximally use the mechanical interlocking, an innovative robot which utilizes flexible pad with claws is designed. The mechanism for attachments of the claws against rough surfaces is further revealed according to the theoretical analysis. Moreover, the effects of the key parameters on the performances of the climbing robots are obtained. It indicates that decreasing the size of the tip of the claws while maintaining its stiffness unchanged can effectively improve the attachment ability. Furthermore, the structure of robot body and two foot trajectories are proposed and the new robot is presented. Using experimental tests, it demonstrates that this robot has high stability and adaptability while climbing on vertical rough surfaces up to a speed of 4.6 cm·s−1.


bionic climbing robot mechanical interlocking claw rough surface 


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This work was supported by the National Natural Science Foundation of China (51375232) and Key Plan of Research and Development of Jiangsu Province (BE2017766).


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Copyright information

© Jilin University 2018

Authors and Affiliations

  • Aihong Ji
    • 1
    Email author
  • Zhihui Zhao
    • 1
  • Poramate Manoonpong
    • 1
    • 2
  • Wei Wang
    • 1
  • Guangming Chen
    • 1
  • Zhendong Dai
    • 1
  1. 1.Institute of Bio-inspired Structure and Surface EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina
  2. 2.CBR Embodied AI & Neurorobotics Lab, The MærskMc-Kinney Møller InstituteUniversity of Southern DenmarkOdense MDenmark

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