A paper-based wall-climbing robot enabled by electrostatic adhesion
Why this work is in the frame
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Bibliographic record
Abstract
In this paper, we report a paper-based wall-climbing robot capable of climbing vertical walls of different materials. The robot, made from paper and shape memory alloy (SMA), can be controlled to climb walls under certain combinations of activation patterns of electrostatic adhesion and contraction of the SMA. Electrostatic adhesion is applied using a paper structure with embedded interdigitated electrodes. This structure, fully compatible with the paper-based robot, is able to output strong and reliable adhesion forces (the resultant friction force can be as high as 1.65 N on specific substrates), and can be easily turned on and off using a commercial high-voltage converter. The SMA embedded in the robot is employed to deform the robot body and induce contracting displacements while being activated. The elastic energy stored in the robot body allows it to complete a repeatable actuation cycle by recovering the SMA automatically after its contraction. With above structures, we demonstrate the walking and climbing ability of this robot with a locomotion speed of 1 mm/s. The climbing of a vertical wall along both the vertical and horizontal directions is achieved.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it