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<p>This paper presents a bio-inspired soft climbing robot designed to overcome the limitations of conventional climbing robots in unstructured, irregular, or deformable environments. Mimicking the arboreal locomotion of sloths, the robot employs an embracing-based anchoring mechanism driven by a tensegrity-structured spiral system, capable of generating gripping forces exceeding 20&#xa0;N through topological interlocking. Coupled with a telescopic actuation module utilizing tunable tower springs, the robot achieves adaptive body deformation and bidirectional locomotion. Experimental results demonstrate stable vertical climbing, passive adaptation to curved and variable-diameter surfaces, active gap-crossing via elastic energy release, and reliable performance on deformable substrates. This work establishes a new paradigm for robotic locomotion in complex 3D environments by integrating bio-inspired topological constraints with elastic actuation.</p>

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Design and performance of soft entanglement-based climbing robot

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2026年4月10日

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  • Junfeng Hu,
  • Chao Liu

摘要

This paper presents a bio-inspired soft climbing robot designed to overcome the limitations of conventional climbing robots in unstructured, irregular, or deformable environments. Mimicking the arboreal locomotion of sloths, the robot employs an embracing-based anchoring mechanism driven by a tensegrity-structured spiral system, capable of generating gripping forces exceeding 20 N through topological interlocking. Coupled with a telescopic actuation module utilizing tunable tower springs, the robot achieves adaptive body deformation and bidirectional locomotion. Experimental results demonstrate stable vertical climbing, passive adaptation to curved and variable-diameter surfaces, active gap-crossing via elastic energy release, and reliable performance on deformable substrates. This work establishes a new paradigm for robotic locomotion in complex 3D environments by integrating bio-inspired topological constraints with elastic actuation.