Journal ArticleDOI
Smooth Vertical Surface Climbing With Directional Adhesion
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TLDR
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.Abstract:
Stickybot is a bioinspired robot that climbs smooth vertical surfaces such as glass, plastic, and ceramic tile at 4 cm/s. The robot employs several design principles adapted from the gecko including a hierarchy of compliant structures, directional adhesion, and control of tangential contact forces to achieve control of adhesion. We describe 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. At the finest scale, the undersides of Stickybot's toes are covered with arrays of small, angled polymer stalks. Like the directional adhesive structures used by geckos, they readily adhere when pulled tangentially from the tips of the toes toward the ankles; when pulled in the opposite direction, they release. Working in combination with the compliant structures and directional adhesion is a force control strategy that balances forces among the feet and promotes smooth attachment and detachment of the toes.read more
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Journal ArticleDOI
Soft climbing robot with magnetic feet for multimodal locomotion
Gi-Jun Park,Hugo Rodrigue +1 more
TL;DR: In this paper , a soft climbing robot with a controllable magnetic adhesion was proposed for the exploration of complex metallic structures with many obstacles, and the robot could crawl or climb nearly interchangeably, could transition to and from horizontal surfaces to either upward or downward vertical surfaces.
Journal ArticleDOI
Effect of electron irradiation on few-layer boron nitride nanosheets/polydimethylsiloxane composite inspired pillar
Ye Tian,Vu Khanh Quy,Shujie Hu,bestbraincognitiv not provided,Li Yang,Yunfei Zhu,Huaping Wu,Lixiang Jiang,Lixin Xu,Huijian Ye +9 more
TL;DR: In this paper, boron nitride nanosheets were incorporated into polydimethylsiloxane (PDMS) mixture that was then utilized to prepare composite pillar via plasma etched silicon template, and electron irradiation was conducted to examine the morphology of patterned array and the mechanical property of PDMS composite.
Book ChapterDOI
Locomotion Interfaces for Legged Robots: Design Inspiration From Natural Locomotion Interfaces
TL;DR: Electro EEG-Analysis for the Detection of True Emotion or Pretension Reshma Kar, Amit Konar and Aruna Chakraborty (2015).
Journal ArticleDOI
A supramolecular gel-elastomer system for soft iontronic adhesives
Dace Gao,Gurunathan Thangavel,Junwoo Lee,Jian Lv,Yi Li,Jing-Hao Ciou,Jiaqing Xiong,Taiho Park,Pooi See Lee +8 more
TL;DR: In this paper , an iontronic adhesive based on a dynamically crosslinked gel-elastomer system, including an ionic organohydrogel as adhesive electrodes and a resilient polyurethane with high electrostatic energy density as dielectric layers, is presented.
Journal ArticleDOI
Reversible Adhesive Bio-Toe with Hierarchical Structure Inspired by Gecko
TL;DR: In this paper , a hierarchical adhesive bionic toe (bio-toe) consisting of an upper elastic actuator as the supporting/driving layer and lower bionic lamellae as the adhesive layer was designed, which can adhere to and release from targets reversibly when driven by bi-directional pressure.
References
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Book
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TL;DR: The forces between atoms and molecules are discussed in detail in this article, including the van der Waals forces between surfaces, and the forces between particles and surfaces, as well as their interactions with other forces.
Journal ArticleDOI
Surface energy and the contact of elastic solids
TL;DR: In this paper, the influence of surface energy on the contact between elastic solids is discussed and an analytical model for its effect upon the contact size and the force of adhesion between two lightly loaded spherical solid surfaces is presented.
Journal ArticleDOI
Evidence for van der Waals adhesion in gecko setae
Kellar Autumn,Metin Sitti,Yiching A. Liang,Anne M. Peattie,Wendy R. Hansen,Simon Sponberg,Thomas W. Kenny,Ronald S. Fearing,Jacob N. Israelachvili,Robert J. Full +9 more
TL;DR: This work provides the first direct experimental evidence for dry adhesion of gecko setae by van der Waals forces, and suggests a possible design principle underlying the repeated, convergent evolution of dry adhesive microstructures in gecko, anoles, skinks, and insects.
Journal ArticleDOI
From micro to nano contacts in biological attachment devices.
TL;DR: An extensive microscopic study has shown a strong inverse scaling effect in these attachment devices, whereas μm dimensions of the terminal elements of the setae are sufficient for flies and beetles, geckos must resort to sub-μm devices to ensure adhesion.
Journal ArticleDOI
Analysis of Multifingered Hands
Jeffrey Kerr,Bernard Roth +1 more
TL;DR: This paper discusses three fundamental problems relating to grasping and manipulating objects within an articulated, multifingered hand: determining how hard to squeeze an ob ject in order to ensure a secure grasp, determining the finger- joint motions required to produce a desired motion of the object, and determining the workspace of the hand.