Gecko inspired micro-fibrillar adhesives for wall climbing robots on micro/nanoscale rough surfaces

Burak Aksak, Michael P. Murphy, Metin Sitti

Research output: Chapter in Book/Report/Conference proceedingConference contribution

102 Scopus citations

Abstract

This paper presents the fabrication, characterization and testing of bio-inspired synthetic dry adhesive fiber arrays. Fibers were fabricated via micromolding followed by spatula tip formation via dipping. Arrays of fibers with diameters between 28 μm and 57 μm and a height of 114 μm were fabricated with high uniformity on 6.25 cm2 areas with up to 95% yield. Adaptation to uneven surfaces was observed with fiber elongations over 6 times the original height of the fiber. The unstructured sample exhibited 1.6 times as much adhesion as the fiber array sample for the flat punch indenter. However, fibrillar samples demonstrated up to 5.3 times as much adhesion as the unstructured sample for the hemispherical indenter. The fibrillar adhesive sample was implemented on a wall climbing robot which was able to carry itself and climb a distance on a painted wall and wood door.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages3058-3063
Number of pages6
DOIs
StatePublished - 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period05/19/0805/23/08

Fingerprint Dive into the research topics of 'Gecko inspired micro-fibrillar adhesives for wall climbing robots on micro/nanoscale rough surfaces'. Together they form a unique fingerprint.

  • Cite this

    Aksak, B., Murphy, M. P., & Sitti, M. (2008). Gecko inspired micro-fibrillar adhesives for wall climbing robots on micro/nanoscale rough surfaces. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 3058-3063). [4543675] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543675