Filing Information

Inventor(s)	Mark Cutkosky · Sangbae Kim ·
Assignee(s)	CUTKOSKY MARK R · KIM SANGBAE ·  View assignee updates
Correspondent	LUMEN INTELLECTUAL PROPERTY SERVICES, INC. ·
Application Number	US11732867
Filing date	04/04/2007
Publication date	12/20/2007
Predicted expiration date	04/04/2027
U.S. Classifications	180/8.6  · 254/133.00R  ·
International Classifications	B62D57024  · B66F1900  ·
Kind Code	A1

Patent Family

Abstract

A bio-inspired device is provided designed to scale smooth vertical surfaces using anisotropic frictional materials. The device draws its inspiration from geckos and other climbing lizards and employs similar compliance and force control strategies to climb (or hang onto) smooth vertical surfaces including glass, tile and plastic panels. Foremost among the design features embodied in the device are multiple levels of compliance, at length scales ranging from centimeters to micrometers, to allow the device to conform to surfaces and maintain large real areas of contact so that adhesive forces can support it. Structures within the feet ensure even stress distributions over each toe and facilitate engagement and disengagement of the adhesive materials. A force control strategy works in conjunction with the anisotropic adhesive materials to obtain sufficient levels of friction and adhesion for climbing with low attachment and detachment forces.

Independent Claims | See all claims (20)

1. 1. A device for directional and distributed control of adhesive forces, comprising: (a) a plurality of parallel anisotropic hair features making an acute angle with respect to a reference plane to define a hair direction; and (b) a backing layer with embedded therein a flexible and inextensible fiber, said backing layer affixed to said plurality of parallel anisotropic hair features.
2. 13. A climbing robot, comprising: (a) a set of limbs, wherein each limb having a set of toes, wherein each of said toes comprises: (i) a plurality of parallel anisotropic hair features making an acute angle with respect to a reference plane to define a hair direction, (ii) a backing layer with embedded therein a flexible and inextensible fiber, said backing layer affixed to said plurality of parallel anisotropic hair features, (iii) a plurality of segments affixed to said backing layer on the side of said backing layer opposite to said plurality of anisotropic hair features, and (iv) a cable through and near the surface of said plurality of segments; and (b) an actuator to control said wires of said toes.