Abstract
This paper describes insect-inspired wall-climbing robot that is able to climb on a smooth vertical surface utilizing surface tension forces. The adhesion mechanism of the robot is inspired from the adhesion system of ants, which is responsible for a thin film of secreted liquid between the adhesive organs and the surface. Two kinds of adhesive pads made of PDMS and glass were fabricated using MEMS techniques and adhesive properties were measured. Furthermore, a hexapod robot with the pads installed on its feet was developed. The robot weighs 8.9g and walks in the alternating tripod gait. It successfully walked on vertical and inverted glass surfaces.
