Journal ArticleDOI
Smooth Vertical Surface Climbing With Directional Adhesion
Reads0
Chats0
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
Citations
More filters
Proceedings Article
Motion analysis of lizard locomotion using motion capture
TL;DR: The motion analysis of lizard locomotion as a part of a pre-study of surveillance and monitoring using an unmanned robot in a narrow area with a kinematic model proposed based on the measured data.
Journal ArticleDOI
ROMERIN: A new concept of a modular autonomous climbing robot
TL;DR: In this paper , a modular legged climbing robot where each leg is an autonomous robotic module in terms of processing capacity, control, and energy is presented. But it is not shown how to use it to perform specific inspection tasks.
Proceedings ArticleDOI
KnitSkin: Machine-Knitted Scaled Skin for Locomotion
TL;DR: KnitSkin this article is a bio-inspired sleeve that can traverse diverse cylindrical terrains, ranging from a user's forearm at a wearable scale, to pipes and tree branches at an environmental scale.
Proceedings ArticleDOI
Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints
TL;DR: In this paper, the authors focus on the contact sequence planner to transition between flat terrain and vertical surfaces for multi-limbed climbing robots, which requires planning both multicontact and contact wrenches simultaneously which makes it difficult.
References
More filters
Book
Intermolecular and surface forces
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.