High-Load-Density Electro-Permanent Magnetic Foot with Controllable Adhesion for Quadruped Wall-Climbing Robots

• URL: http://arxiv.org/abs/2605.30849v1
• Date: Fri, 29 May 2026 05:13:05 GMT
• Title: High-Load-Density Electro-Permanent Magnetic Foot with Controllable Adhesion for Quadruped Wall-Climbing Robots
• Abstract summary: This paper presents a high-load-density electro-permanent magnetic foot with controllable adhesion.<n>The proposed CHN-EPM generates a maximum adhesion force exceeding 1000 N with a load-to-weight ratio over 200:1.<n>The system is integrated into a commercial quadruped robot (Unitree GO2), demonstrating high-load adhesion on ceiling and vertical-wall surfaces.
• Score: 12.082637653919194
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: To enable reliable climbing locomotion of quadruped robots on ferromagnetic surfaces, this paper presents a high-load-density electro-permanent magnetic foot with controllable adhesion, featuring force-feedback circular Halbach-net electro-permanent magnet (CHN-EPM) adhesion units and a magnetization control system. Due to its three-dimensional magnetic circuit structure and flux-concentration effect, the CHN-EPM enables a distributed parallel magnetic flux path with enhanced flux utilization, resulting in reduced sensitivity to air-gap variations and allowing effective adhesion to be maintained even under partial contact conditions. The proposed CHN-EPM generates a maximum adhesion force exceeding 1000 N with a load-to-weight ratio over 200:1. A magnetization driver and a two-stage pulse current control strategy are developed to regulate the excitation current amplitude and duration, enabling accurate and reliable magnetization. By incorporating a flexible pressure sensor for contact force feedback, the system can effectively monitor attachment and detachment states, ensuring robust adhesion switching under uncertain contact conditions. The proposed system is integrated into a commercial quadruped robot (Unitree GO2), demonstrating high-load adhesion on ceiling and vertical-wall surfaces and stable locomotion on painted, perforated, and curved ferromagnetic surfaces.

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