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Appl. Sci. 2018, 8(1), 114; doi:10.3390/app8010114

Bio-Inspired Adhesive Footpad for Legged Robot Climbing under Reduced Gravity: Multiple Toes Facilitate Stable Attachment

1
The 28th Research Institute of China Electronics Technology Group Corporation, Nanjing 210007, China
2
Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
3
Department Functional Morphology and Biomechanics, Zoological Institute of the University of Kiel, Kiel 24118, Germany
*
Author to whom correspondence should be addressed.
Received: 13 November 2017 / Revised: 20 December 2017 / Accepted: 11 January 2018 / Published: 15 January 2018
(This article belongs to the Special Issue Bio-Inspired Robotics)
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Abstract

This paper presents the design of a legged robot with gecko-mimicking mechanism and mushroom-shaped adhesive microstructure (MSAMS) that can climb surfaces under reduced gravity. The design principle, adhesion performance and roles of different toes of footpad are explored and discussed in this paper. The effect of the preload velocity, peeling velocity and thickness of backing layering on the reliability of the robot are investigated. Results show that pull-force is independent of preload velocity, while the peeling force is relying on peeling velocity, and the peel strength increased with the increasing thickness of the backing layer. The climbing experiments show that the robot can climb under mimic zero gravity by using multiple toes facilitating adhesion. The robot with new type of footpads also provides a good platform for testing different adhesive materials for the future space applications. View Full-Text
Keywords: legged robot; mushroom-shaped adhesive microstructure; adhesion performance; reduced gravity; climbing legged robot; mushroom-shaped adhesive microstructure; adhesion performance; reduced gravity; climbing
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Wang, Z.; Wang, Z.; Dai, Z.; Gorb, S.N. Bio-Inspired Adhesive Footpad for Legged Robot Climbing under Reduced Gravity: Multiple Toes Facilitate Stable Attachment. Appl. Sci. 2018, 8, 114.

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