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Research Article

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

Zhaoyang Wang1,§, Jianhua Liu1,§, Ziyu Wang1,§, Chang Liu1, Qingyu Chen2, Chaofan Zhang2, Wenbo Zhang3, Jicang Si1, Xiu Xiao1( ), Peng Xu1,4( ), Minyi Xu1( )
Dalian Key Lab of Marine Micro/Nano Energy and Self-powered System, Marine Engineering College, Dalian Maritime University, Dalian 116026, China
Information Science and Technology College, Dalian Maritime University, Dalian 116026, China
Navigation College, Dalian Maritime University, Dalian 116026, China
Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing 100871, China

§ Zhaoyang Wang, Jianhua Liu, and Ziyu Wang contributed equally to this work.

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Graphical Abstract

The paper proposed a triboelectric tactile sensor (TTS) for an autonomous legged magnetic adsorption wall-climbing robot for ship inspection. The robot equipped with TTS realized the recognition of dangerous zones on the crawling wall and autonomous hazard avoidance.

Abstract

Due to the excellent maneuverability and obstacle crossing of legged robots, it is possible for an autonomous legged wall-climbing robots to replace manual inspection of ship exterior panels. However, when the magnetic adsorption legged wall-climbing 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 wall. Therefore, 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 robot. The tactile sensor mainly comprises a three-dimensional (3D)-printed shell, a tactile slider, and three isometric sensing units, with an optimized geometry. The experiment shows that the triboelectric tactile sensor can monitor the sliding depth of the tactile slider and control the light-emitting device (LED) signal light. In 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 surfaces. Finally, this study establishes a robot gait control system to verify the feedback control ability of the triboelectric tactile sensor. The results show that the robot equipped with the triboelectric tactile sensor can recognize the dangerous area on the crawling wall and autonomously avoid the risk. Therefore, 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.

Keywords

legged wall-climbing robotship inspectiontactile perceptiontriboelectric sensor

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Nano Research
Volume 17 Issue 7,
July 2024
Pages 6518-6526
DOI: 10.1007/s12274-024-6537-1
Cite this article:
Wang Z, Liu J, Wang Z, et al. Highly adaptive triboelectric tactile sensor on the foot of autonomous wall-climbing robots for detecting the adhesion state and avoiding the hazard. Nano Research, 2024, 17(7): 6518-6526. https://doi.org/10.1007/s12274-024-6537-1
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Received: 13 December 2023
Revised: 26 January 2024
Accepted: 02 February 2024
Published: 13 March 2024
© Tsinghua University Press 2024
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