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Journal of Zhejiang University SCIENCE A

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A biomimetic robot crawling bidirectionally with load inspired by the rock-climbing fish


Author(s):  Jin-rong WANG, Chen JI, Jun ZOU

Affiliation(s):  State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):  junzou@zju.edu.cn

Key Words:  Adhesive locomotion mechanism; Climbing model; Bio-inspired robot


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Jin-rong WANG, Chen JI, Jun ZOU. A biomimetic robot crawling bidirectionally with load inspired by the rock-climbing fish[J]. Journal of Zhejiang University Science A, 1998, -1(8): .

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author="Jin-rong WANG, Chen JI, Jun ZOU",
journal="Journal of Zhejiang University Science A",
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Abstract: 
By the unique adhesive locomotion system, the rock-climbing fish (Beaufortia kweichowensis) adheres to submerged surfaces and crawls both forward and backward in torrential streams. To confirm this mechanism, we present a biomimetic robot inspired by the locomotion model of the rock-climbing fish. The prototype contained two anisotropic adhesive components with some linkages to connect to the linear actuator. The anisotropic adhesive component consists of one commercial sucker and two retractable bioinspired fin components, and the fin component mimics the abduction and adduction of pectoral and pelvic fins through retractable part to up and down. This robot prototype was tested on vertical and inverted surfaces, and worked swimmingly. Based on these experiments, the results demonstrate that this novel system represent a new locomotion solution for surface movement without detaching from the substrate.

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