Soft climbing robots have attracted much attention of researchers for their potential applications on the wall or inside the tube. However, making a soft robot climb on the outer surface of a rod or tube by agile and efficient motion has long been a challenge. Inspired by the winding climbing locomotion of arboreal snakes, a tethered pneumatic-actuated winding-styled soft rod-climbing robot that consists of two winding actuators and a telescopic actuator is proposed in this work. Based on constant curvature assumption, we develop a theoretical model to analyze the linear and bending motion of the actuators. We demonstrate that our robot can perform climbing locomotion similar to snakes, including turning around a corner along a rod, climbing a vertical rod with a maximum speed of 30.85 mm/s (0.193 body length/s), and carrying a larger payload (weight, 500 g, more than 25 times its self-weight) than existing soft climbing robots do on a vertical surface. In addition, the experimental tests exhibit the potential applications of the robot in special environments such as high-voltage cables, nuclear power plants, and underwater sites.

中文翻译：

---

受蛇缠绕运动启发的软爬杆机器人。

软爬机器人因其在壁面或管内的潜在应用而备受研究人员的关注。然而，让软体机器人通过灵活高效的运动在杆或管的外表面上攀爬一直是一个挑战。受树栖蛇缠绕攀爬运动的启发，本文提出了一种由两个缠绕致动器和一个伸缩致动器组成的系留气动缠绕式软杆攀爬机器人。基于恒定曲率假设，我们开发了一个理论模型来分析执行器的线性和弯曲运动。我们证明我们的机器人可以进行类似于蛇的攀爬运动，包括沿杆转角，以最大速度 30.85 mm/s（0.193 体长/s）攀爬垂直杆，并且比现有的软攀爬机器人在垂直表面上承载更大的有效载荷（重量，500 g，超过其自重的 25 倍）。此外，实验测试展示了机器人在高压电缆、核电站、水下场地等特殊环境中的潜在应用。