News Finding: It is also able to perform 180-degree turns on horizontal surfaces.
Paper Finding: In addition, we verified that the robot still retained horizontal locomotion capabilities comparable with HAMR-VI.
News Context: It walked at speeds comparable to other small climbing robots on inverted surfaces and slightly slower than other climbing robots on vertical surfaces, but was significantly faster than other robots on horizontal surfaces, making it a good candidate for exploring environments that have a variety of surfaces in different arrangements in space. It is also able to perform 180-degree turns on horizontal surfaces. HAMR-E also successfully maneuvered around a curved, inverted section of a jet engine while staying attached, and its passive ankle joints and adhesive foot pads were able to accommodate the rough and uneven features of the engine surface simply by increasing the electroadhesion voltage.
Paper Context: Gravitational forces acting against the direction of motion reduced the effective stride length during vertical locomotion to about 75% of forward displacement achieved during inverted locomotion ( fig. In addition, we verified that the robot still retained horizontal locomotion capabilities comparable with HAMR-VI. Specifically, it achieved forward velocities of 7.5 to 140.4 mm s −1 with the trot gait over stride frequencies ranging from 2 to 65 Hz.