Ceramics that are composed of nanosized granules show enhanced properties in various applications. A layer-bylayer deposition process is developed in this study to prepare core-shell nanocomposite particles, using controlled polymer adsorption. Submicrometer-sized alumina particles that have been chosen as the starting core particles are first dispersed by pH control and then modified by adsorption of anionic poly(acrylic acid) to facilitate the subsequent deposition of nanoparticles on them. A key step in the processing involves the removal of excess polymer in the supernatant after the adsorption by controlled washing, so that the added nanoparticles do not self-flocculate among themselves. A coating of nanosized particles is indicated by the charge reversal of the micrometer-sized composite particles. The isoelectric point of the composite particle is similar to that of nanosized particles under both low and high coverage conditions. Scanning electron microscopic observation of coated particles shows full monolayer coverage of the nanoparticles on core particles, which confirms the efficiency of the coating scheme that is discussed here. The present study reveals the feasibility of coating nanoparticles onto micrometer-sized core particles, using controlled polymer bridging, for the preparation of the multilayer nanocomposite powders.

Dynamic locomotion of a quadruped robot emerges from interaction between the robot body and the terrain. When the robot has a soft body, dynamic locomotion can be realized using a simple controller. This study investigates dynamic turning of a soft quadruped robot by changing the phase difference among the legs of the robot. We develop a soft quadruped robot driven by McKibben pneumatic artificial muscles. The phase difference between the hind and fore legs is fixed whereas that between the left and right legs is changed to enable the robot to turn dynamically. Since the robot legs are soft, the contact pattern between the legs and the terrain can be varied adaptively by simply changing the phase difference. Experimental results demonstrate that changes in the phase difference lead to changes in the contact time of the hind legs, and as a result, the soft robot can turn dynamically.

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