Biomimetic wall-shaped hierarchical microstructure for gecko-like attachment

A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or modules) with computing power and sensitivity. Their complexity, which is increased by the fact of needing elements for climbing, makes a correct structure crucial to achieve a complete, robust, and versatile system during its operation. Control architectures for legged robots are distinguished from other software architectures because of the special needs of these systems. In this paper, we present an original classification of modular legged and climbing robots, a comprehensive review of the most important control architectures in robotics, focusing on the control of modular legged and climbing robots, and a comparison of their features. The control architecture comparison aims to provide the analytical tools necessary to make informed decisions tailored to the specific needs of your robotic applications. This article includes a review and classification of modular legged and climbing robots, breaking down each category separately.

Recent Progress on the Use of Stimulus-Responsive Materials for Dry Adhesive Applications

Stimulus-responsive dry adhesives, inspired by the adhesive mechanisms displayed by the fibrillar structures present on the feet of geckos, have emerged as a promising area of research for applications such as robotic grippers and climbing robots. These stimulus-responsive dry adhesives exhibit some unique capabilities, as their ability to adhere to and detach from surfaces can be controlled with the help of an external stimulus. For example, studies have developed magnetic field-responsive dry adhesives and show that the adhesion of these materials can be turned on and off by controlling the applied magnetic field. Light-responsive adhesives have also been developed and shown to reverse their adhesion using infrared light as the stimulus. Such materials show tremendous promise in pick-and-place systems for handling delicate objects and microelectronic products. The focus of this article is to review the stimulus-responsive materials that have been used to develop dry adhesives. The mechanisms adopted by these stimulus-responsive materials to switch their adhesion are discussed. Applications of stimulus-responsive dry adhesives are presented, and last, the future perspective of these materials is discussed.

Effect of the Mechanical Properties of Soft Counter-Faces on the Adhesive Capacity of Mushroom-Shaped Biomimetic Microstructures

The effects of mechanical properties and contact environment conditions on the adhesiveness of the biomimetic adhesive mushroom-shaped micro-structure have been experimentally investigated. The idea is based on the adhesive micro-structures and surfaces inspired by nature after observing the abilities of some animals. Applications are proposed in various fields of engineering and technology. However, to enable unconventional uses of these biomimetic adhesion surfaces, such as in the biomedical field, it is necessary to adjust and optimize their tribological properties (friction, adhesion, and peeling strength) in contact with soft substrates that can simulate the mechanical features of biological tissues. Our work explores the effect of the combinations of the various parameters on the strength of adhesion. Under dry contact conditions, soft counter-faces lead to lower adhesion than hard counter-faces, whereas under wet conditions, soft counter-faces lead to higher adhesion than harder counter-faces.

ROMERIN: A new concept of a modular autonomous climbing robot

Climbing robots play an essential role in performing inspection work in civil infrastructures. These tasks require autonomous robots with competitive costs and the ability to adapt to different types of environments. This article presents ROMERIN, a new concept of a modular legged climbing robot where each leg is an autonomous robotic module in terms of processing capacity, control, and energy. The legs are equipped with suction cups that allow the robot to adhere to different types of surfaces. The proposed design allows the creation of climbing robots with a different number of legs to perform specific inspection tasks. Although each of the legs acts as an independent robot, they have the ability to share information and energy. The proposed control concept enables the development of climbing robots with the ability to adapt to different types of inspection tasks and with resilience characteristics. This article includes a description of the mechatronic design, the kinematics of the seven degree-of-freedom robotic legs, including the adhesion system, and the architecture of the control and simulation system. Finally, we present experimental results to test the modularity concept, mechanical design, and electronics using a four-legged robot configuration. We analyze the performance of the gripping system in different situations on four different surfaces and the behavior of the control architecture for two different robot body trajectories.

Amplification factor in shear-activated adhesives: effect of elasticity

In contrast to common adhesives used in joining, directional adhesives are designed for a dynamic attachment/detachment operation and, hence, their performance is assessed not only in an activated mode but also in a disactivated mode. Consequently, in addition to a peak adhesive strength, a ratio of maximum over minimum attachment force, which can be called a shear-driven amplification factor, is utilized for their characterization. Considering that the peak adhesive response and the amplification factor both depend on the elasticity of the microstructured surface, here we report a combined numerical and experimental study of the effect of the Young's modulus on the attachment properties of flap-shaped contact elements drawn from polyurethane. Our results demonstrate that while the activated and disactivated pull-off forces decrease, the amplification factor increases as the Young's modulus increases. Given that both the activated pull-off force and the amplification factor should be maximized for the best performance, the Young's modulus has to be carefully chosen based on the characteristics of the objects to be manipulated.

Gecko-Inspired Biomimetic Surfaces with Annular Wedge Structures Fabricated by Ultraprecision Machining and Replica Molding

The current research on gecko-inspired dry adhesives is focused on micropillar arrays with different terminal shapes, such as flat, spherical, mushroom, and spatula tips. The corresponding processing methods are mostly chemical methods, including lithography, etching, and deposition, which not only are complex, expensive, and environmentally unfriendly, but also cannot completely ensure microstructural integrity or performance stability. The present study demonstrates a high-precision, high-efficiency, and green method for the fabrication of a gecko-inspired surface, which can promote its application in dexterous robot hands and mechanical grippers. Based on the bendable lamellar structures of the gecko, annular wedge adhesive surfaces that stick to the finger surfaces of dexterous robot hands to improve their load capacity are proposed and fabricated via a suitable combined processing method of ultraprecision machining and replica molding. The greater the width, the higher the replication integrity, and when the minimum width is 20 μm, the replication error is less than 5.5% due to the superior processing performance of the nickel-phosphorus (Ni-P) plating of the master mold. The fabricated annular wedge structures with an optimized width of 20 μm not only exhibit a strong friction force of up to 35.48 mN under a preload of 20 mN in the GCr15/poly(dimethylsiloxane) (PDMS) friction pair but also demonstrate an obviously improved anisotropic friction characteristic of up to λ = 1.36, as the molecular force exhibits a stronger increase as compared to the decrease of the mechanical force of the structure with a small width.

Multifunctional conductive hydrogels and their applications as smart wearable devices

Recently, hydrogel-based conductive materials and their applications as smart wearable devices have been paid tremendous attention due to their high stretchability, flexibility, and excellent biocompatibility. Compared with single functional conductive hydrogels, multifunctional conductive hydrogels are more advantageous to match various demands for practical applications. This review focuses on multifunctional conductive hydrogels applied for smart wearable devices. Representative strategies for conduction of hydrogels are discussed firstly: (1) electronic conduction based on the conductive fillers and (2) ionic conduction based on charged ions. Then, the common and intensive research on multiple functionalities of conductive hydrogels, such as mechanical properties, conductive and sensory properties, anti-freezing and moisturizing properties, and adhesion and self-healing properties is presented. The applications of multifunctional conductive hydrogels such as in human motion sensors, sensory skins, and personal healthcare diagnosis are provided in the third part. Finally, we offer our perspective on open challenges and future areas of interest for multifunctional conductive hydrogels used as smart wearable devices.

CFD Modelling and Optimization Procedure of an Adhesive System for a Modular Climbing Robot

Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper, a CFD (computer fluid dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the best performing configuration in terms of vacuum and power consumption. Analytical and numerical models were developed to predict the behaviour of the system for different configurations. The models were validated, using test rig measurements, by calibrating an arbitrary defined inlet height that simulates the leakage flow. Then, different geometric parameters were varied to determine the best performing configuration based on the vacuum/power consumption ratio value. The model presented in the paper was capable of predicting the behaviour of the system for different configurations, with a margin of error of 15% for the vacuum prediction and 25% for the motor power calculation. Finally, the model was used to optimize parameters of the system, like the number of blades of the impeller. The adhesion system was conceived for the modular autonomous climbing legged robot ROMERIN.

Biomimetic wall-shaped hierarchical micro-structure: numerical simulation of sliding inception

A finite element model is developed to study the behaviour of adhesion-governed contact of soft elastic wall-shaped projections and a rigid flat under normal and tangential loading. Bi-linear cohesive zone material is implemented to model the adhesive interaction of the contact, and Tresca's law of friction is used to model the tangential response. An assessment of maximum tangential load capacity of attachment devices based on dry adhesive contact is performed using the described model and the effects of geometrical properties are investigated. The value of maximum shear stress in the contact of PVS and a silicon flat is identified. The model reveals that the tangential load capacity of the wall-shaped projection is independent of normal load, and that increasing the length of the adhesive flap, as well as decreasing its thickness provides better tangential load capacity.

Drawing-Based Manufacturing of Shear-Activated Reversible Adhesives

Although biomimetic technologies for dry reversible adhesion seem to be maturing, the costs, complexity, and time expenditures associated with the current template-based molding techniques call for research on other fabrication methods. In this paper, we report a novel cost-effective, simple, and flexible drawing-based technique for manufacturing the soft elastomeric thin-film-based microstructures needed for successful implementation of the principles of biological shear-activated adhesion. Several different types of adhesive microstructures are fabricated, and the best of them demonstrate shear-driven amplification of pull-off force by a factor of 40, which significantly outperforms known molded analogues. A simple gripper based on a manual center-clamping vise is shown to enable pick-and-place manipulation of various flat and curved objects of everyday use.

Contact splitting in dry adhesion and friction: reducing the influence of roughness

Splitting a large contact area into finer, sub-contact areas is thought to result in higher adaptability to rough surfaces, stronger adhesion, and a more uniform stress distribution with higher tolerance to defects. However, while it is widely believed that contact splitting helps to mitigate the negative effects of roughness on adhesion- and friction-based attachment, no decisive experimental validation of this hypothesis has been performed so far for thin-film-based adhesives. To this end, we report on the behavior of original and split, wall-shaped adhesive microstructures on different surfaces ranging across four orders of magnitude in roughness. Our results clearly demonstrate that the adhesion- and friction-driven attachment of the wall-shaped microstructure degrades, regardless of the surface waviness, when the surface roughness increases. Second, splitting the wall-shaped microstructure indeed helps to mitigate the negative effect of the increasing surface unevenness by allowing the split microstructure to adapt more easily to the surface waviness and by reducing the effective average peeling angle. These findings can be used to guide the development of biomimetic shear-actuated adhesives suitable for operation not only on smooth but also on rough surfaces.

Biomimetic wall-shaped adhesive microstructure for shear-induced attachment: the effects of pulling angle and preliminary displacement

To date, a handful of different gecko-like adhesives inspired by spatula-shaped attachment hairs have been suggested based on wedge and flap geometry of contact elements. However, while these surface designs have been shown to have directionality in adhesion, high friction, long lifetime and the ability to work in vacuum, an experimental verification of the very basic concept of the pulling angle effect has not yet been reported. To close this gap, here we use wall-shaped adhesive microstructures of three different flap heights to systematically study the effect of pulling angle on the normal and tangential components of the pull-off force tested at different preliminary tangential displacements. In accord with the prediction of the Kendall model for the normal component of peeling force, there is an optimal normal force that is required to detach the wall-shaped adhesive microstructure. The optimum is obtained at about half the distance needed to initiate sliding and at pulling angles that range within 60-90°, which suggests that the wall-shaped microstructure can tolerate relatively large inaccuracies in the loading direction. The increase of the attachment force with increasing flap height is found to correlate with the flap thickness, which decreased with increasing flap height.

Bioinspired reversible hydrogel adhesives for wet and underwater surfaces

A hydrogel-based wet adhesive with bioinspired microstructures can exhibit strong and reversible adhesion to wet and underwater surfaces.

How tight are beetle hugs? Attachment in mating leaf beetles

Similar to other leaf beetles, rosemary beetles Chrysolina americana exhibit a distinct sexual dimorphism in tarsal attachment setae. Setal discoid terminals occur only in males, and they have been previously associated with a long-term attachment to the female's back (elytra) during copulation and mate guarding. For the first time, we studied living males and females holding to female's elytra. Pull-off force measurements with a custom-made tribometer featuring a self-aligning sample holder confirmed stronger attachment to female elytra compared with glass in both males and females; corresponding to 45 and 30 times the body weight, respectively. In line with previous studies, males generated significantly higher forces than females on convex elytra and flat glass, 1.2 times and 6.8 times, respectively. Convex substrates like elytra seem to improve the attachment ability of rosemary beetles, because they can hold more strongly due to favourable shear angles of legs, tarsi and adhesive setae. A self-aligning sample holder is found to be suitable for running force measurement tests with living biological samples.

Effect of counterface roughness on the friction of bionic wall-shaped microstructures for gecko-like attachments

Hairy adhesive systems involved in gecko locomotion have drawn the interest of many researchers regarding the development of bionic solutions for fast and reversible adhesive technologies. To date, despite extensive efforts to design gecko-inspired adhesive surfaces, adhesion and friction capacities are often evaluated using smooth and rigid counterfaces, in general glass, whereas most natural and artificial surfaces inevitably have a certain level of roughness. For that reason, in this study experiments tested the effects of the substrate roughness on the friction of bionic wale-shaped microstructures for gecko-like attachments. To this end, 12 substrates with different isotropic roughness were prepared using the same Epoxy material. Friction force was measured under various normal loads. It was concluded that classical roughness parameters, considered separately, are not appropriate to explain roughness-related variations in friction force. This has led us to develop a new integrative roughness parameter that combines characteristics of the surface. The parameter is capable of classifying the obtained experimental results in a readable way. An analytical model based on the experimental results has been developed to predict the variation of the friction force as a function of counterface roughness and applied normal load.