Directional adhesion for climbing: theoretical and practical considerations

  title={Directional adhesion for climbing: theoretical and practical considerations},
  author={Daniel Santos and Matthew Spenko and Aaron Parness and Sangbae Kim and Mark R. Cutkosky},
  journal={Journal of Adhesion Science and Technology},
  pages={1317 - 1341}
Using the gecko as inspiration, important principles are revealed for reliable maneuvering on vertical surfaces. Foremost among these is the directional behavior of the gecko adhesive system, which permits control of adhesion via control of the tangential forces at the feet. Multiple hierarchical levels of compliance are also important for conforming intimately to surfaces with varying degrees of roughness and different length scales. In light of these requirements, most previously developed… 

Climbing rough vertical surfaces with hierarchical directional adhesion

A four legged robot that was previously restricted to climbing smooth surfaces is able to climb vertical surfaces such as a wood panels, painted metals, and plastics using a new two-tiered directional adhesive system that improves adhesion by a factor of five compared to the wedge features alone.

Parameter optimization of directional dry adhesives for robotic climbing and gripping applications

  • D. RuffattoM. Spenko
  • Materials Science
    2012 IEEE International Conference on Robotics and Automation
  • 2012
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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A new test concept for anisotropic adhesives, the adhesion circle, is introduced, and how the radial normal adhesion performance is altered depending on whether the pull-off comes after a displacement drag or when pulled at a constant angle from vertical after a preload is compared.

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The progress in the modeling filed for gecko adhesion, friction and peeling, and the future issues for geckos modeling are described and discussed.

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The design considerations for the development of robust and durable bio-inspired synthetic adhesives are highlighted and current challenges and future directions are highlighted for the design and development of resilient and durable dry adhesive structures.



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The frictional adhesion model provides an explanation for the very low detachment forces observed in climbing geckos that does not depend on toe peeling.

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We describe the design and control of a new bio-inspired climbing robot designed to scale smooth vertical surfaces using directional adhesive materials. The robot, called Stickybot, draws its

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Effective elastic modulus of isolated gecko setal arrays

The hypothesis that Eeff of gecko setae falls within Dahlquist's criterion for tack is tested, the validity of a model of setae as cantilever beams is evaluated, and highly linear forces of deformation under all compression conditions support the cantilevers model.

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Several creatures, including insects, spiders and lizards, have a unique ability to cling to ceilings and walls utilizing dry adhesion. Geckos in particular have developed the most complex adhesion

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An approximate adhesion model for fibrillar adhesives for developing a fibrillsar adhesive design methodology is proposed and numerical simulation adhesion results with macroscale adhesion data from polymer microfiber array experiments are compared.

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