Micro Electroadhesive Treaded Robot (μETR)

Climbing robots have applications like search and rescue, surveillance, and inspection. To execute such tasks and successfully navigate their complex environments, inclined, vertical, and inverted climbing is required. To address this challenge, we have developed Microelectroadhesive Treaded Robot (μETR), an origami-based, lightweight, small sized autonomous system. μETR’s key innovations include a seamless electroadhesive tread design utilizing screen printing and custom laser micromaching that adheres it to conductive surfaces, in addition to consisting of a drive alignment system, a tensioner/voltage transferer, crowned wheels, and a rigid chassis. Preliminary experiments suggest that the robot can climb 30 degree slopes, tug loads up to 7 grams, and statically adhere to angles up to approximately 70 degrees. We are currently integrating a custom, lightweight powerboard to make it untethered, as well as demonstrate vertical and inverted climbing on conductive surfaces. In the near future, an interdigitated tread design will be explored to experiment with non-conductive surfaces.