A Novel Modular Climbing Caterpillar Using Low-frequency
               Vibrating Passive Suckers

Houxiang Zhang, Juan Gonzalez-Gomez, S.Y Chen, W. Wang, R. Lin, D. Li, J.W.Zhang

Abstract: 

  This paper presents a novel modular climbing caterpillar named ZC-I. After a related
survey on the topic, a systematical summarizing on the basic functions provided by this
system is given. ZC-I features fast-building mechanical structure and low-frequency 
vibrating passive attachment principle. Active joints actuated by RC servos endow the 
connecting modules with the ability of changing shapes in two dimensions. After that
the discussion focuses on the various locomotion capabilities. Linear movement,
turning movement, lateral movement, rotating and rolling movement are achived based on
an inspired control model to produce rhythmic motion. In the end a conclusion and
future work are given.