Journal ArticleDOI
Hybrid electrostatic and elastomer adhesion mechanism for wall climbing robot
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TLDR
In this paper, a hybrid solution to the problem of robots climbing on featureless surface is presented, where a biomimetic tail is implemented with torsion spring design, and the robot prototype ELAD (electrostatic and elastomer adhesion) can climb a slope of 80° on smooth surfaces at speed of 4 cm/s, and perch for more than 2h using on-board power.About:
This article is published in Mechatronics.The article was published on 2016-05-01. It has received 52 citations till now. The article focuses on the topics: Adhesion.read more
Citations
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Journal ArticleDOI
A Review of the State of Dry Adhesives: Biomimetic Structures and the Alternative Designs They Inspire
Jeffrey D. Eisenhaure,Seok Kim +1 more
TL;DR: A review of the current theoretical understanding of dry adhesive mechanics, including the observations from biological systems and the lessons learned by recent attempts to mimic them, is provided in this paper, with an overview of fabrication and test techniques, with a sampling of performance results.
Journal ArticleDOI
Electroadhesion Technologies for Robotics: A Comprehensive Review
TL;DR: This survey comprehensively detail the working principle, modeling, design, fabrication, characterization, and applications of EA technologies employed in robotics, aiming to provide guidance and offer potential insights for future EA researchers and applicants.
Journal ArticleDOI
Experimental investigation on climbing robot using rotation-flow adsorption unit
Qiang Zhou,Xin Li +1 more
TL;DR: A square-shaped rotational-flow adsorption unit is designed and a soft skirt structure is designed to improve the robot’s load ability and obstacle-surmounting ability and shows that the prototype robot can move stably on coarse walls and can pass over large grooves and bulges easily.
Journal ArticleDOI
Toward Adaptive and Intelligent Electroadhesives for Robotic Material Handling
Jianglong Guo,Thomas Bamber,Yuchen Zhao,Matthew R. Chamberlain,Laura Justham,Michael R. Jackson +5 more
TL;DR: The results have shown that the minimum voltage can be applied to robustly grasp different materials under different environment conditions and is particularly useful for pick-and-place applications where various types of materials and changing environments exist.
Journal ArticleDOI
AnyClimb-II: Dry-adhesive linkage-type climbing robot for uneven vertical surfaces
Yanheng Liu,TaeWon Seo +1 more
TL;DR: This study introduces the design of a new linkage-type, wall-climbing robot, based on dry adhesion, for uneven vertical surfaces, which renders the robot adaptable to uneven surfaces with a compliant motion.
References
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Journal ArticleDOI
High-Speed Electrically Actuated Elastomers with Strain Greater Than 100%
TL;DR: It is shown that prestraining the film further improves the performance of electrical actuators made from films of dielectric elastomers coated on both sides with compliant electrode material.
Journal ArticleDOI
Adhesive force of a single gecko foot-hair
Kellar Autumn,Yiching A. Liang,S. Tonia Hsieh,Wolfgang Zesch,Wai Pang Chan,Thomas W. Kenny,Ronald S. Fearing,Robert J. Full +7 more
TL;DR: The first direct measurements of single setal force are reported by using a two-dimensional micro-electro-mechanical systems force sensor and a wire as a force gauge and revealed that a seta is ten times more effective at adhesion than predicted from maximal estimates on whole animals.
Journal ArticleDOI
Thin-film peeling-the elastic term
TL;DR: In this article, the authors show that the force required to peel an elastic film from a rigid substrate depends not only on the adhesive surface energy but also on an elastic deformation term.
Journal ArticleDOI
Smooth Vertical Surface Climbing With Directional Adhesion
TL;DR: The design and fabrication methods used to create underactuated, multimaterial structures that conform to surfaces over a range of length scales from centimeters to micrometers are described.
Journal ArticleDOI
Dynamics of geckos running vertically
TL;DR: Differential leg function appears essential for effective vertical as well as horizontal locomotion, and the period of fore–aft force production might be constrained.
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