title: A dragline-forming mobile robot inspired by spiders.
abstract: Mobility of wheeled or legged machines can be significantly increased if they are able to move from a solid surface into a three-dimensional space. Although that may be achieved by addition of flying mechanisms, the payload fraction will be the limiting factor in such hybrid mobile machines for many applications. Inspired by spiders producing draglines to assist locomotion, the paper proposes an alternative mobile technology where a robot achieves locomotion from a solid surface into a free space. The technology resembles the dragline production pathway in spiders to a technically feasible degree and enables robots to move with thermoplastic spinning of draglines. As an implementation, a mobile robot has been prototyped with thermoplastic adhesives as source material of the draglines. Experimental results show that a dragline diameter range of 1.17-5.27 mm was achievable by the 185 g mobile robot in descending locomotion from the solid surface of a hanging structure with a power consumption of 4.8 W and an average speed of 5.13 cm min(-1). With an open-loop controller consisting of sequences of discrete events, the robot has demonstrated repeatable dragline formation with a relative deviation within -4% and a length close to the metre scale.
authors.affiliation: Bio-Inspired Robotics Lab, ETH Zurich, Leonhardstrasse 27, 8092 Zurich, Switzerland.
authors.forename: Liyu
authors.initials: L
authors.lastname: Wang
authors.forename: Utku
authors.initials: U
authors.lastname: Culha
authors.forename: Fumiya
authors.initials: F
authors.lastname: Iida
mesh_terms: D000269:Adhesives / Q000737:chemistry*; D000818:Animals; D032701:Biomimetics / Q000295:instrumentation*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D017276:Friction; D005684:Gait / Q000502:physiology*; D008124:Locomotion / Q000502:physiology*; D009038:Motion; D012371:Robotics / Q000295:instrumentation*; D047011:Silk / Q000737:chemistry*; D013112:Spiders / Q000502:physiology*; D013718:Tensile Strength
chemical_list: D000269:Adhesives; D047011:Silk