Zoomorphic Mobile Robot Development for Vertical Movement Based on the Geometrical Family Caterpillar

Table 1

Qualitative indicators for VDR with different engagement principles.

Principles of adhesion and VDR parameters		Material parameters			Noise level
		Different materials	Dirty surfaces	Uneven surfaces
Friction force		+	++	++	–
Magnetic	Electromagnets	–	+	+	–
	Permanent magnets	–	+	+	–
Air pressure	Active vacuum	++	+	+	++
	Passive vacuum	++	+	+	–
	Vortex effect	++	+	++	++
	Bernoulli effect	++	++	++	++
	Aerodynamics	++	++	++	++
Electrostatic adhesion		++	++	++	–
Dry adhesion	Polymers with microstructures	++	–	+	–
	Elastomers	++	–	+	–
Moisture adhesion	Glue	++	–	–	–
	Thermoplastics	++	–	–	–