Spider-Man Inspired Robot with Wire Ejection, Winding and Cutting Capabilities

Abstract

Mobile robots with both high trampling ability and low COT are required for hazard removal and disaster rescue in unstructured environments. In this paper, we present a Spider-Man inspired mobile robot that can brachiate using wires to overcome obstacles. The proposed mechanism has two wire injection mechanisms and winding mechanisms. By ejecting the two wires toward a ceiling and rewinding them, the robot can control its position and angle for brachiation. Then, by detaching one of the two wires, the robot starts brachiation and lands on a remote point. We build a prototype robot and experimentally verify that it can brachiate along the target trajectory.