|Climbing is major subject in robotics research. Omegabot is a finger-sized wood climbing robot with a spine-based gripper. This robot is inspired by the inchworm which can crawl and climb on trees with a simple omega-shaped bending motion. This simple locomotion enables the robot to be smaller and more easily controlled. We suggest a special pattern design for the Composite structures to generate a two-dimensional turning motion and climb a vertical wood surface. This research is about the design and fabrication of Inchworm inspired robot and a proper selection of smart actuators with mechanisms for improving actuation performance. Our results demonstrate that Omegabot can crawl, turn, and climb on a tree. This robot can be used for search and rescue, or gathering useful information in areas where only small-scale robots can penetrate.
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