A Point-Wise Model of Adhesion Suitable for Real-Time Applications of Bio-Inspired Climbing Robots

Bio-inspired climbing robots relying on adhesion systems are believed to become essential tools for several industrial applications in the near future. In recent years, research has mainly focused on modeling micro-scale adhesion phenomena; a macro-scale adhesion model has however to be developed fo...

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Bibliographic Details
Published inJournal of bionics engineering Vol. 5; no. Suppl 1; pp. 98 - 105
Main Authors Pretto, I., Ruffieux, S., Menon, C., Ijspeert, A.J., Cocuzza, S.
Format Journal Article
LanguageEnglish
Published Singapore Elsevier Ltd 01.09.2008
Springer Singapore
Subjects
adhesion
Artificial Intelligence
Biochemical Engineering
Bioinformatics
Biomaterials
Biomedical Engineering and Bioengineering
Biomedical Engineering/Biotechnology
climbing robots
Engineering
failure criterion
macro-scale
modeling
PDMS
simulation
failure criterion
modeling
simulation
macro-scale
adhesion
climbing robots
PDMS
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Summary:Bio-inspired climbing robots relying on adhesion systems are believed to become essential tools for several industrial applications in the near future. In recent years, research has mainly focused on modeling micro-scale adhesion phenomena; a macro-scale adhesion model has however to be developed for the design of macro-scale systems. In this paper a macro-model of adhesion suitable for real-time applications is presented; it relies on a continuous representation of adhesion. An extension of the von Mises criterion is proposed as failure adhesion criterion in order to estimate the occurrence of detachment at any point of the contacting surface. An experimental set up has been designed in order to define the parameters of the model. A semi-automatic process has been developed to ensure repeatability and accuracy of the results. Polydimethylsiloxane (PDMS), which has revealed promising adhesive features for robotic use, has been used during the experimental phase. The macro-model of adhesion has been implemented in a multi-body dynamics environment based on Open Dynamics Engine (ODE) to simulate a spider-inspired robot. Simulations based on this model are suitable to represent the behaviour of climbing robots and also to optimize their design.
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ISSN:1672-6529
2543-2141
DOI:10.1016/S1672-6529(08)60079-7