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Geckos are exceptional in their ability to climb rapidly up smooth vertical surfaces. Microscopy has shown that a gecko's foot has nearly five hundred thousand keratinous hairs or setae. Each 30-130 microm long seta is only one-tenth the diameter of a human hair and contains hundreds of projections terminating in 0.2-0.5 microm spatula-shaped structures.(More)
This work presents the design, fabrication, and testing of a novel hexapedal walking millirobot using only two actuators. Fabricated from S2-glass reinforced composites and flexible polymer hinges using the smart composite microstructures (SCM) process, the robot is capable of speeds up to 1 body length/sec or approximately 3 cm/s. All power and control(More)
— Mobile microrobots with characteristic dimensions on the order of 1cm are difficult to design using either MEMS (microelec-tromechanical systems) technology or precision machining. This is due to the challenges associated with constructing the high strength links and high-speed, low-loss joints with micron scale features required for such systems. Here we(More)
DASH is a small, lightweight, power autonomous robot capable of running at speeds up to 15 body lengths per second (see video). Drawing inspiration from biomechanics, DASH has a sprawled posture and uses an alternating tripod gait to achieve dynamic open-loop horizontal locomotion. The kinematic design which uses only a single drive motor and allows for a(More)
Rapid and consistent turning of running legged robots on surfaces with moderate friction is challenging due to leg slip and uncertain dynamics. A tail is proposed as a method to effect turns at higher yaw frequencies than can be obtained by differential velocity drive of alternate sides. Here we introduce a 100 mm scale dynamic robot - OctoRoACH - with(More)
A teletaction system uses a tactile display to present the user with information about texture, local shape, and/or local compliance. Current tactile displays are at and rigid, and require precise machining and assembly of many parts. This paper describes the fabrication and performance of a one-piece pneumatically-actuated tactile display molded from(More)
Conventional pressure sensitive adhesives (PSAs) are fabricated from soft viscoelastic materials that satisfy Dahlquist's criterion for tack with a Young's modulus (E) of 100 kPa or less at room temperature and 1 Hz. In contrast, the adhesive on the toes of geckos is made of beta-keratin, a stiff material with E at least four orders of magnitude greater(More)
This paper proposes techniques to fabricate synthetic gecko foot-hairs as dry adhesives for future wall-climbing and surgical robots, and models for understanding the synthetic hair design issues. Two nanomold-ing fabrication techniques are proposed: the first method uses nanoprobe indented flat wax surface and the second one uses a nano-pore membrane as a(More)