Regulating surface traction of a soft robot through electrostatic adhesion control

@article{Wu2017RegulatingST,
  title={Regulating surface traction of a soft robot through electrostatic adhesion control},
  author={Qiyang Wu and Tomas G. Diaz Jimenez and Juntian Qu and Chen Zhao and Xinyu Liu},
  journal={2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2017},
  pages={488-493}
}
This paper reports the electrostatic regulation of surface traction of a quadruped soft robot to improve its locomotion efficiency. The soft robot, containing five pneumatic channel networks (PneuNets) in different parts of its body, is actuated to achieve undulated locomotion. Electrostatic adhesion is applied to the bottom surface of each robot leg, by using a thin elastomeric adhesion pad embedded with interdigitated comb electrodes. The adhesion pad is fully compatible with the soft robot… 
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