DOAJ Open Access 2026

Design and performance of soft entanglement-based climbing robot

Junfeng Hu Chao Liu

Abstrak

Abstract This paper presents a bio-inspired soft climbing robot designed to overcome the limitations of conventional climbing robots in unstructured, irregular, or deformable environments. Mimicking the arboreal locomotion of sloths, the robot employs an embracing-based anchoring mechanism driven by a tensegrity-structured spiral system, capable of generating gripping forces exceeding 20 N through topological interlocking. Coupled with a telescopic actuation module utilizing tunable tower springs, the robot achieves adaptive body deformation and bidirectional locomotion. Experimental results demonstrate stable vertical climbing, passive adaptation to curved and variable-diameter surfaces, active gap-crossing via elastic energy release, and reliable performance on deformable substrates. This work establishes a new paradigm for robotic locomotion in complex 3D environments by integrating bio-inspired topological constraints with elastic actuation.

Topik & Kata Kunci

Technology Mechanical engineering and machinery Control engineering systems. Automatic machinery (General) Machine design and drawing Technology (General) Industrial engineering. Management engineering Automation Information technology

Penulis (2)

Junfeng Hu

Chao Liu

Format Sitasi

APA MLA BibTeX

Hu, J., Liu, C. (2026). Design and performance of soft entanglement-based climbing robot. https://doi.org/10.1186/s40648-026-00337-6

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Informasi Jurnal

Tahun Terbit: 2026
Sumber Database: DOAJ
DOI: 10.1186/s40648-026-00337-6
Akses: Open Access ✓