ICRA 2012 Paper Abstract


Paper TuC07.4

Ruffatto III, Donald (Illinois Institute of Technology), Spenko, Matthew (Illinois Institute of Technology)

Parameter Optimization of Directional Dry Adhesives for Robotic Climbing and Gripping Applications

Scheduled for presentation during the Regular Session "Climbing Robots" (TuC07), Tuesday, May 15, 2012, 15:15−15:30, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 15, 2018

Keywords Climbing Robots, Soft Material Robotics, Micro/Nano Robots


This paper experimentally investigates the optimization of directional dry adhesives that can be used for robotic climbing and gripping applications. Directional dry adhesives are modeled on gecko setae. The adhesives are comprised of arrays of micro-scale polymer stalks. The geometry of the polymer stalks has a significant effect upon their adhesion properties. A set of parameters including stalk thickness, stalk angle, face angle and stalk curvature have been identified as factors that influence both normal and shear adhesion levels. A new micro-resolution rapid prototyping process is used to create adhesives with varying geometry and advanced features such as curved stalks. A series of experimental tests characterize the significance of each parameter. Tests indicate that the new curved stalk geometry presented here can provide the greatest overall adhesion and robustness to variations in pull-off angle.



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