Biologically Inspired Modular Climbing Caterpillar Robot Using Passive Adhesion (BICCA)

• Applicant: Professor Dr. Jianwei Zhang
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics
• Term: from 2010 to 2014
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 183627182

Based on the analysis of the movement mechanism of natural caterpillars, we combine climbing techniques with the concept of a modular robot to propose a multifunctional modular climbing caterpillar robot.The last decade has seen an increasing interest in developing and employing climbing mobile robots for industrial inspection, conducting surveillance and urban search tasks. Traditional climbing robots, which are relatively big and heavy, rely on complex kinematics models of their system as well as an equally complex model of the environment with which they interact. In contrast, mini climbing robots are more attractive and promising than their bigger counterparts due to their portability, their many possible fields of application and their higher level of safety.Contrary to other animals, the climbing method of natural caterpillars features a limbless structure with a good length to pitch-back moment ratio and a distributed modular configuration, both making their climbing mechanism safer than other kinematics principles. The goal of this proposal is to develop a flexible bio-inspired mobile robotic platform featuring an easy-to-build mechanical structure, a low-frequency vibrating passive attachment principle and various locomotion capabilities.The main novelties of this proposal are: i) a lighter climbing robotic structure based on a bio-inspired methodology and a distributed modular approach, as well as a novel passive adhesion control principle; and ii) a biologically inspired control architecture which will allow adaptation to new or changing environments. These systems not only are the basis of a new approach to robotics, but also will contribute to reducing the overall computational load and to minimizing system cost and power consumption. Our research will pave the way to new application fields such as locomotion in a variety of terrains in 3D environments, in particular the exploration of narrow spaces.

• DFG Programme: Research Grants
• Ehemaliger Antragsteller: Houxiang Zhang, Ph.D., until 3/2011