Bioinspired Microrobot Climbing on Fabrics Using a Single Actuator

Abstract

Microrobots climbing on fabrics are well-suited for reconnaissance and rescue tasks in indoor environments. However, achieving stable adhesion while maintaining a simplified locomotion mechanism remains a formidable challenge. This study presents a 4 cm, 18.2 g climbing robot designed with a single-actuator, enabling dual-degree-of-freedom motion on fabric surfaces through the synergistic integration of anisotropic microstructures. The robot's compact form achieves complex functionalities, incorporating locomotion, imaging, illumination, and real-time video transmission capabilities. Innovative hook-shaped microstructures overcome challenges in gripping rough and fibrous surfaces (wood, burlap, mesh, etc.), allowing robots to climb on slopes up to 55° and maintain stillness on inverted surfaces. This work demonstrates the robot's feasibility and efficiency for reconnaissance applications on varied indoor surfaces through structural design optimization and performance testing in simulated real-world environments.