Climbing

Abstract: Existing robots capable of climbing walls mostly rely on rigid actuators such as electric motors, but soft wall-climbing robots based on muscle-like actuators have not yet been achieved. Here, we report a tethered soft robot capable of climbing walls made of wood, paper, and glass at 90° with a speed of up to 0.75 body length per second and multimodal locomotion, including climbing, crawling, and turning. This soft wall-climbing robot is enabled by (i) dielectric-elastomer artificial muscles that generate fast periodic deformation of the soft robotic body, (ii) electroadhesive feet that give spatiotemporally controlled adhesion of different parts of the robot on the wall, and (iii) a control strategy that synchronizes the body deformation and feet electroadhesion for stable climbing. We further demonstrate that our soft robot could carry a camera to take videos in a vertical tunnel, change its body height to navigate through a confined space, and follow a labyrinth-like planar trajectory. Our soft robot mimicked the vertical climbing capability and the agile adaptive motions exhibited by soft organisms.

Abstract: Wild, adult siamang were observed for over 800 h in lowland dipterocarp forest in the Krau Game Reserve, Pahang, West Malaysia. Siamang use four patterns of locomotion: brachiation, climbing, bipedalism and leaping. The pattern of locomotion used by the siamang varies with the size of arboreal supports and with major behavioral activity. Travel is primarily by brachiation along large boughs. Locomotion during feeding is primarily climbing among small branches. In feeding, siamang use suspensory postures among small supports and seated postures on large supports. Comparison of siamang locomotion and posture with that of other apes suggest that quadramanous climbing during feeding is the basic hominoid locomotor adaptation.

Abstract: The purpose of this review is to explore existing research on the physiological aspects of difficult rock climbing. Findings will be categorized into the areas of an athlete profile and an activity model. An objective here is to describe high-level climbing performance; thus the focus will primarily be on studies that involve performances at the 5.11/6c (YDS/French) level of difficulty or higher. Studies have found climbers to be small in stature with low body mass and low body fat. Although absolute strength values are not unusual, strength to body mass ratio is high in accomplished climbers. There is evidence that muscular endurance and high upper body power are important. Climbers do not typically possess extremely high aerobic power, typically averaging between 52–55 ml·kg−1·min−1 for maximum oxygen uptake. Performance time for a typical ascent ranges from 2 to 7 min and oxygen uptake (VO2) averages around 20–25 ml·kg−1·min−1 over this period. Peaks of over 30 ml·kg−1·min−1 for VO2 have been reported. VO2 tends to plateau during sustained climbing yet remains elevated into the post-climb recovery period. Blood lactate accumulates during ascent and remains elevated for over 20 min post-climbing. Handgrip endurance decreases to a greater degree than handgrip strength with severe climbing. On the basis of this review, it appears that a specific training program for high-level climbing would include components for developing high, though not elite-level, aerobic power; specific muscular strength and endurance; ATP–PC and anaerobic glycolysis system power and capacity; and some minimum range of motion for leg and arm movements.