Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains. They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during climbing. Inspired by this, we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope angles. We evaluate and compare the climbing performance of the robot on three different terrains (hard, soft, and fluffy) at different slope angles. Various robot configurations are employed, including those with standard hard feet and soft feet in combination with an active tail—with and without a soft tip. The experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains, with maximum climbing slopes of \(40^{\circ }\), \(45^{\circ }\), and \(50^{\circ }\) on fluffy, soft, and hard terrains, respectively. Its payload capacity depends on the type of terrain and the inclination angle. Moreover, our robot performs multi-terrain transitions (climbing from horizontal to sloped terrains) on three different terrains of a slope. This approach can allow a climbing robot to walk and climb on different terrains, extending the operational range of the robot to areas with complex terrains and slopes, e.g., in inspection, exploration, and construction.

蜥蜴利用脚和尾巴之间的协同作用在斜坡和垂直地形上攀爬。它们利用带有数百万根小毛发的柔软粘性脚来增加与地形表面的接触面积，并将尾巴压在地形上，以在攀爬过程中主动保持稳定性。受此启发，我们提出了一种基于新方法的仿生攀爬机器人，其中软足和带有软粘合尖端的活动尾部之间的协同作用使机器人能够在不同坡度的平坦和不平坦的地形上稳定攀爬。我们评估并比较了机器人在不同坡度下三种不同地形（硬地、软地和蓬松地）上的攀爬性能。采用了各种机器人配置，包括标准硬脚和软脚与主动尾部（带或不带软尖端）相结合的机器人配置。实验结果表明，软脚和软尾机器人在所有地形上均取得了最佳的攀爬性能，最大攀爬坡度为\(40^{\circ }\)、\(45^{\circ } \)和\(50^{\circ }\)分别在蓬松、柔软和坚硬的地形上。其有效负载能力取决于地形类型和倾斜角度。此外，我们的机器人可以在斜坡的三个不同地形上执行多地形过渡（从水平地形攀爬到倾斜地形）。这种方法可以让攀爬机器人在不同地形上行走和攀爬，将机器人的作业范围扩展到地形和坡度复杂的区域，例如检查、勘探、施工等。