When climbing vertical or inclined surfaces, insects utilize claws, tibial spines, and tarsal pads to create attachment forces. These devices allow them to climb on a variety of substrates, including those that are smooth, soft, or porous. Recent advances in materials may make long-lasting dry adhesives and arrays of sharp hooks feasible attachment mechanisms for small robots. Mini-WhegsTM are a series of robots that use rotating wheel-legs driven by a single motor for locomotion. By testing specially designed wheel-legs with office tape, pairs of spines, and Velcro®, this work demonstrates the feasibility of applying novel adhesives and frictional materials passively on simple rotating legs. The resulting robot climbs vertical fabric surfaces with Velcro®, crosses ceilings with Scotch® tape, and climbs steep concrete inclines with sharp spines and provides a test-platform for future adhesive materials such as dry adhesive tape.
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