Gecko adhesion based sea star crawler robot

被引：4

作者：

Acharya, Sampada ^{[1
]}

Roberts, Peter ^{[2
]}

Rane, Tejas ^{[3
]}

Singhal, Raghav ^{[4
]}

Hong, Peize ^{[3
]}

Ranade, Viraj ^{[3
]}

Majidi, Carmel ^{[2
]}

Webster-Wood, Victoria ^{[5
]}

Reeja-Jayan, B. ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Dept Mech Engn, Far From Equilibrium Mat Lab, Pittsburgh, PA 15213 USA

[2] Carnegie Mellon Univ, Dept Mech Engn, Soft Machines Lab, Pittsburgh, PA USA

[3] Carnegie Mellon Univ, Dept Mech Engn, Pittsburgh, PA USA

[4] Carnegie Mellon Univ, Dept Biomed Engn, Pittsburgh, PA USA

[5] Carnegie Mellon Univ, Dept Mech Engn, CMU BORG, Pittsburgh, PA USA

来源：

FRONTIERS IN ROBOTICS AND AI | 2023年 / 10卷

基金：

美国安德鲁·梅隆基金会;

关键词：

sea star; gecko; bio-inspired robots; soft-robots; gecko adhesion; MICRO-FIBRILLAR ADHESIVES; GRIPPER;

D O I：

10.3389/frobt.2023.1209202

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Over the years, efforts in bioinspired soft robotics have led to mobile systems that emulate features of natural animal locomotion. This includes combining mechanisms from multiple organisms to further improve movement. In this work, we seek to improve locomotion in soft, amphibious robots by combining two independent mechanisms: sea star locomotion gait and gecko adhesion. Specifically, we present a sea star-inspired robot with a gecko-inspired adhesive surface that is able to crawl on a variety of surfaces. It is composed of soft and stretchable elastomer and has five limbs that are powered with pneumatic actuation. The gecko-inspired adhesion provides additional grip on wet and dry surfaces, thus enabling the robot to climb on 25 degrees slopes and hold on statically to 51 degrees slopes.

引用

页数：10

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