Highly adaptive triboelectric tactile sensor on the foot of autonomous wall-climbing robots for detecting the adhesion state and avoiding the hazard

作     者：Zhaoyang Wang Jianhua Liu Ziyu Wang Chang Liu Qingyu Chen Chaofan Zhang Wenbo Zhang Jicang Si Xiu Xiao Peng Xu Minyi Xu 

作者机构：Dalian Key Lab of Marine Micro/Nano Energy and Self-powered SystemMarine Engineering CollegeDalian Maritime UniversityDalian 116026China Information Science and Technology CollegeDalian Maritime UniversityDalian 116026China Navigation CollegeDalian Maritime UniversityDalian 116026China Intelligent Biomimetic Design LabCollege of EngineeringPeking UniversityBeijing 100871China 

出 版 物：《Nano Research》 (纳米研究（英文版）)

年 卷 期：2024年第17卷第7期

页      面：6518-6526页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the Dalian Outstanding Young Scientific and Technological Talents Project(No.2021RJ11) the Science and Technology Innovation Foundation of Dalian(No.2021JJ12GX028) 

主　　题：legged wall-climbing robot ship inspection tactile perception triboelectric sensor 

摘      要：Due to the excellent maneuverability and obstacle crossing of legged robots,it is possible for an autonomous legged wallclimbing robots to replace manual inspection of ship exterior ***,when the magnetic adsorption legged wallclimbing robot steps on the convex point or convex line of the wall,or even when the robot missteps,the robot is likely to detach from the ferromagnetic ***,this paper proposes a tactile sensor for the legged magnetic adsorption wall-climbing robot to detect the magnetic adsorption state and improve the safety of the autonomous crawling of the *** tactile sensor mainly comprises a three-dimensional(3D)-printed shell,a tactile slider,and three isometric sensing units,with an optimized *** experiment shows that the triboelectric tactile sensor can monitor the sliding depth of the tactile slider and control the light-emitting device(LED)signal *** addition,in the demonstration experiment of detecting the adsorption state of the robot s foot,the triboelectric tactile sensor has strong adaptability to various ferromagnetic wall ***,this study establishes a robot gait control system to verify the feedback control ability of the triboelectric tactile *** results show that the robot equipped with the triboelectric tactile sensor can recognize the dangerous area on the crawling wall and autonomously avoid the ***,the proposed triboelectric tactile sensor has great potential in realizing the tactile sensing ability of robots and enhancing the safety and intelligent inspection of ultra-large vessels.