The Gecko's toe: Scaling directional adhesives for climbing applications

IEEE/ASME Transactions on Mechatronics

Volumn 18, Issue 2, 2013, Pages 518-526

  Hawkes, Elliot W ^a   Eason, Eric V ^b   Asbeck, Alan T ^a,c   Cutkosky, Mark R ^a  

^a Stanford University   (United States)

^b STANFORD UNIVERSITY   (United States)

^c HARVARD UNIVERSITY   (United States)

Author keywords

Adhesion; Biomimetics; Climbing robots; Gecko

Indexed keywords

ADHESION; BIOMIMETICS; ROBOTS; TENDONS;

ADHESIVE FORCE; CLIMBING ROBOTS; COMPLIANT MATERIALS; GECKO; LOADING ANGLE; SMALL SAMPLES; TENDON SYSTEMS; UNIFORM LOADING;

ADHESIVES;

EID: 84880750010     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2012.2209672     Document Type: Article

References (37)

1. K. Autumn, Y. A. Liang, S. T. Hsieh, W. Zesch, W. P. Chan, T.W. Kenny, R. Fearing, and R. J. Full, "Adhesive force of a single gecko foot-hair," Nature, vol. 405, no. 6787, pp. 681-685, Jun. 2000. (Pubitemid 30428653)
2. K. Autumn, M. Sitti, Y. A. Liang, A. M. Peattie, W. R. Hansen, S. Sponberg, T. W. Kenny, R. Fearing, J. N. Israelachvili, and R. J. Full, "Evidence for van der Waals adhesion in gecko setae," Proc. Nat. Acad. Sci. USA, vol. 99, no. 19, pp. 12 252-12 256, Sep. 2002.
3. K. Autumn, A. Dittmore, D. Santos, M. Spenko, and M. Cutkosky, "Frictional adhesion:Anewangle on gecko attachment," J. Exp. Biol., vol. 209, no. 18, pp. 3569-3579, Sep. 2006.
4. N. Gravish, M. Wilkinson, S. Sponberg, A. Parness, N. Esparza, D. Soto, T.Yamaguchi,M. Broide, M. Cutkosky, C. Creton, andK.Autumn, "Ratedependent frictional adhesion in natural and synthetic gecko setae," J. Roy. Soc. Interface, vol. 7, no. 43, pp. 259-269, Feb. 2010.
5. A. del Campo, C. Greiner, and E. Arzt, "Contact shape controls adhesion of bioinspired fibrillar surfaces," Langmuir, vol. 23, no. 20, pp. 10 235-10 243, Sep. 2007. (Pubitemid 47548509)
6. S. Gorb, M. Varenberg, A. Peressadko, and J. Tuma, "Biomimetic mushroom-shaped fibrillar adhesive microstructure," J. Roy. Soc. Interface, vol. 4, no. 13, pp. 271-275, Apr. 2007. (Pubitemid 46513057)
7. J. Lee, R. S. Fearing, and K. Komvopoulos, "Directional adhesion of gecko-inspired angled microfiber arrays," Appl. Phys. Lett., vol. 93, no. 191910, Nov. 2008.
8. J. Lee, C. Majidi, B. Schubert, and R. S. Fearing, "Sliding-induced adhesion of stiff polymer microfibre arrays. I. Macroscale behaviour," J. Roy. Soc. Interface, vol. 5, no. 25, pp. 835-844, Aug. 2008. (Pubitemid 351882157)
9. L. Qu, L. Dai, M. Stone, Z. Xia, and Z. L. Wang, "Carbon nanotube arrays with strong shear binding-on and easy normal lifting-off," Science, vol. 322, no. 5899, pp. 238-242, Oct. 2008.
10. J. Davies, S. Haq, T. Hawke, and J. P. Sargent, "A practical approach to the development of a synthetic gecko tape," Int. J. Adhes. Adhes., vol. 29, no. 4, pp. 380-390, Jun. 2009.
11. Y. Maeno and Y. Nakayama, "Geckolike high shear strength by carbon nanotube fiber adhesives," Appl. Phys. Lett., vol. 94, no. 012103, Jan. 2009.
12. M. P. Murphy, S. Kim, and M. Sitti, "Enhanced adhesion by geckoinspired hierarchical fibrillar adhesives," Appl. Mater. Interfaces, vol. 1, no. 4, pp. 849-855, Mar. 2009.
13. D. Sameoto and C. Menon, "Direct molding of dry adhesives with anisotropic peel strength using an offset lift-off photoresist mold," J. Micromech. Microeng., vol. 19, no. 115026, Oct. 2009.
14. H. E. Jeong, J.-K. Lee, H. N. Kim, S. H. Moon, and K. Y. Suh, "A nontransferring dry adhesive with hierarchical polymer nanohairs," Proc. Nat Acad. Sci. USA, vol. 106, no. 14, pp. 5639-5644, Apr. 2009.
15. D. Sameoto and C. Menon, "Recent advances in the fabrication and adhesion testing of biomimetic dry adhesives," Smart Mater. Struct., vol. 19, no. 103001, Aug. 2010.
16. A. G. Gillies and R. S. Fearing, "Shear adhesion strength of thermoplastic gecko-inspired synthetic adhesive exceeds material limits," Langmuir, vol. 27, no. 18, pp. 11278-11281, Aug. 2011.
17. E.W. Hawkes, J. Ulmen, N. Esparza, andM. R. Cutkosky, "Scaling walls: Applying dry adhesives to the real world," in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., San Francisco, CA, Sep. 2011, pp. 5100-5106.
18. M. D. Bartlett, A. B. Croll, D. R. King, B. M. Paret, D. J. Irschick, and A. J. Crosby, "Looking beyond fibrillar features to scale gecko-like adhesion," Adv. Mater., vol. 24, no. 8, pp. 1078-1083, Jan. 2012.
19. M. J. Spenko, G. C. Haynes, J. A. Saunders,M. R. Cutkosky, A. A. Rizzi, R. J. Full, and D. E. Koditschek, "Biologically inspired climbing with a hexapedal robot," J. Field Robot., vol. 25, no. 4-5, pp. 223-242, Apr./May 2008. (Pubitemid 351689450)
20. C. A. Grissom, A. E. Charola, and M. J. Wachowiak, "Measuring surface roughness on stone: Back to basics," Stud. Conserv., vol. 45, no. 2, pp. 73-84, 2000.
21. M. P. Murphy and M. Sitti, "Waalbot: An agile small-scale wall-climbing robot utilizing dry elastomer adhesives," IEEE/ASME Trans. Mechatronics, vol. 12, no. 3, pp. 330-338, Jun. 2007. (Pubitemid 47018784)
22. S. Kim, M. Spenko, S. Trujillo, B. Heyneman, D. Santos, and M. R. Cutkosky, "Smooth vertical surface climbing with directional adhesion," IEEE Trans. Robot., vol. 24, no. 1, pp. 65-74, Feb. 2008. (Pubitemid 351411198)
23. K. A. Daltorio, T. E. Wei, A. D. Horchler, L. Southard, G. D. Wile, R. D. Quinn, S. N. Gorb, and R. E. Ritzmann, "Mini-WhegsTM climbs steep surfaces using insect-inspired attachment mechanisms," Int. J. Robot. Res., vol. 28, no. 2, pp. 285-302, Feb. 2009.
24. O. Unver and M. Sitti, "Tankbot: A palm-size, tank-like climbing robot using soft elastomer adhesive treads," Int. J. Robot. Res., vol. 29, no. 14, pp. 1761-1777, Dec. 2010.
25. M. P. Murphy, C. Kute, Y. Menguc, and M. Sitti, "Waalbot II: Adhesion recovery and improved performance of a climbing robot using fibrillar adhesives," Int. J. Robot. Res., vol. 30, no. 1, pp. 118-133, Jan. 2011.
26. J. Krahn, Y. Liu, A. Sadeghi, and C. Menon, "A tailless timing belt climbing platform utilizing dry adhesives with mushroom caps," Smart Mater. Struct., vol. 20, no. 115021, Nov. 2011.
27. T. Seo and M. Sitti, "Tank-likemodule-based climbing robot using passive compliant joints," IEEE/ASME Trans.Mechatronics, vol. PP, no. 99, pp. 1-12.
28. S. Kim, B. Aksak, and M. Sitti, "Enhanced friction of elastomermicrofiber adhesives with spatulate tips," Appl. Phys. Lett., vol. 91, no. 221913, Nov. 2007.
29. A. P. Russell, "Descriptive and functional anatomy of the digital vascular system of the tokay, Gekko gecko," J. Morphol., vol. 169, no. 3, pp. 293-323, Sep. 1981. (Pubitemid 11025089)
30. A. P. Russell, "The morphological basis of weight-bearing in the scansors of the tokay gecko (Reptilia: Sauria)," Can. J. Zool., vol. 64, no. 4, pp. 948-955, 1986.
31. S. Timoshenko and S. Woinowsky-Krieger, Theory of Plates and Shells, 2nd ed. New York: McGraw-Hill, 1959.
32. A. Parness, D. Soto, N. Esparza, N. Gravish, M. Wilkinson, K. Autumn, and M. Cutkosky, "A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality and long lifetime," J. Roy. Soc. Interface, vol. 6, no. 41, pp. 1223-1232, Mar. 2009.
33. D. Soto, G. Hill, A. Parness, N. Esparza, M. Cutkosky, and T. Kenny, "Effect of fibril shape on adhesive properties," Appl. Phys. Lett., vol. 97, no. 053701, 2010.
34. M. E. Merchant, "Mechanics of the metal cutting process. I. Orthogonal cutting and a type 2 chip," J. Appl. Phys., vol. 16, no. 5, pp. 267-275, 1945.
35. R. Hill and E. H. Lee, "The theory of wedge penetration at oblique incidence and its application to the calculation of forces on a yawed shot impacting on armour plate," Armament Res. Dep., U.K. Ministry of Supply, Theor. Res. Rep. 1/46, 1946.
36. S. A. Meguid and I. F. Collins, "On the mechanics of the oblique cutting of metal strips with knife-edged tools," Int. J. Mech. Sci., vol. 19, no. 6, pp. 361-371, 1977. (Pubitemid 8555031)
37. E. Hawkes. (2011). StickybotIII Climbing Videos. [Online]. Available: http://bdml.stanford.edu/Main/StickybotIIIClimbing