Adhesion of Individual Attachment Setae of the Spider Cupiennius salei to Substrates With Different Roughness and Surface Energy

Poerschke, Bastian; Gorb, Stanislav N.; Schaber, Clemens F.

doi:10.3389/fmech.2021.702297

Cited by 8 publications

(6 citation statements)

References 34 publications

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“…We infer that the microscopic hairs (setae) surrounding the leg of the spider (Figure S3 , Supporting Information) play a role in enhancing the gripping force on the surface of a rough object through dry adhesion, which may also be advantageous for picking up objects with smooth surfaces. [ 59 ] These three demonstrations highlight the capabilities of the necrobotic gripper to handle various geometries and even grip objects that are greater than its own mass and volume.…”

Section: Resultsmentioning

confidence: 99%

Necrobotics: Biotic Materials as Ready‐to‐Use Actuators

et al. 2022

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Designs perfected through evolution have informed bioinspired animal‐like robots that mimic the locomotion of cheetahs and the compliance of jellyfish; biohybrid robots go a step further by incorporating living materials directly into engineered systems. Bioinspiration and biohybridization have led to new, exciting research, but humans have relied on biotic materials—non‐living materials derived from living organisms—since their early ancestors wore animal hides as clothing and used bones for tools. In this work, an inanimate spider is repurposed as a ready‐to‐use actuator requiring only a single facile fabrication step, initiating the area of “necrobotics” in which biotic materials are used as robotic components. The unique walking mechanism of spiders—relying on hydraulic pressure rather than antagonistic muscle pairs to extend their legs—results in a necrobotic gripper that naturally resides in its closed state and can be opened by applying pressure. The necrobotic gripper is capable of grasping objects with irregular geometries and up to 130% of its own mass. Furthermore, the gripper can serve as a handheld device and innately camouflages in outdoor environments. Necrobotics can be further extended to incorporate biotic materials derived from other creatures with similar hydraulic mechanisms for locomotion and articulation.

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Section: Resultsmentioning

confidence: 99%

Necrobotics: Biotic Materials as Ready‐to‐Use Actuators

et al. 2022

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“…As is well-known, the multi-ba e foot end has good attachment characteristics ( Poerschke et al, 2021). An ordinary multi-ba e foot was designed by combining with the speci c dimensions of the bio-inspired foot end (Fig.…”

Section: Structural Design Of the Ordinary Multi-ba E Foot Endmentioning

confidence: 98%

Slip-resistant mechanism of bio-inspired foot end based on particle morphology and friction on ice and frozen ground

Li,

Zhang,

Chen

et al. 2024

Preprint

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The attachment characteristics of the mechanical foot end are crucial for enhancing the traversability and locomotion of robots on extreme terrains. In this study targeting the reindeer touchdown unit, four bio-inspired foot ends and one conventional multi-baffle foot end were designed. Dynamic friction data of the bio-inspired foot ends were collected under various ground conditions, and the macro- and micro-structures of these surfaces were analyzed. The impacts of multiple factors on the attachment performances of the bio-inspired foot ends were explored, including the moisture content and compactness of frozen soil, and the ridges and convex crowns of foot ends. Additionally, a sliding/rolling friction conversion model was proposed to describe the interaction between the foot ends and frozen soil. When the ends interacted with the frozen ground and simulant for water-ice lunar soil, the attachment of the bio-inspired ribbed foot end and convex-crown was the best, and its dynamic coefficient of friction (DCOF) increased by 24.19%-44.68% and 35.14%-51.47% than the multi-baffle foot end. Upon interacting with the ice surface, the bio-inspired ribless foot end and non-convex crown demonstrated the best attachment performance. The DCOFs of these designs increased by about 24% compared to the multi-baffle foot end. The attachment performances of foot ends were more affected by moisture content compared with the compacted state of frozen ground. Compared to the ribless and non-convex-crown structures, the structures of ribs and convex-crown increased DCOF by 1%-15% and 18%-42%, respectively. Therefore, the effect of convex-crowns was greater than that of ribs. This study can improve the adaptability and traversability of robots on extreme terrains, which is of great significance for their applications in exploring polar regions, the moon, and other harsh environments.

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“…In particular, the hooves of reindeer are highly trafficable on the frozen surface, and their hoof-shell structure and plantar fur play an anti-slip role and can enlarge the contact area with the ground when walking on frozen ground [25]. Reindeer migrate over long distances on land seasonally, and some reindeer populations migrate farther than other land mammals [26].…”

Section: Introductionmentioning

confidence: 99%

Energy saving, load bearing and attachment mechanism on ice and frozen ground of biomimetic mechanical foot

Li,

Zhang,

Pang

et al. 2024

PLoS ONE

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The frozen ground robot can be widely and prospectively applied in plentiful fields, such as military rescue and planet exploration. Based on the energy-saving, load-bearing, and attachment functions of reindeer hooves, we studied the kinematics of reindeer feet and designed a biomimetic energy-saving attachment mechanical foot (mechanical foot I) and two contrast mechanical feet (mechanical feet II and III). The energy-saving and load-bearing performances of the biomimetic mechanical foot were tested on a motion mechanics platform, which revealed this mechanical foot was adaptive to three types of ground (frozen ground, ice, and water ice lunar soil). Mechanical foot I possesses the functions of elastic energy storage and power consumption reduction, and its power range is from -2.77 to -27.85 W. Compared with mechanical foot III, the load-bearing ability of mechanical foot I was improved by the dewclaws, and the peak forces in the X, Y, and Z directions increased by about 2.54, 1.25 and 1.31 times, respectively. When mechanical foot I acted with more- smooth surface, the joint range of motion (ROM) increased, changes of the three-directional force at the foot junction decreased. The forces were the lowest on ice among the three types of ground, the X-, Y- and Z-directional changes were about 62.96, 83.7, and 319.85 N respectively, and the ROMs for the ankle joint and metatarsophalangeal joint of mechanical foot I were about 17.93° and 16.10°, respectively. This study revealed the active adaptation mechanism between the biomimetic mechanical foot and ice or frozen ground, and thus theoretically underlies research on the biomimetic mechanical foot.

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Adhesion of Individual Attachment Setae of the Spider Cupiennius salei to Substrates With Different Roughness and Surface Energy

Cited by 8 publications

References 34 publications

Necrobotics: Biotic Materials as Ready‐to‐Use Actuators

Necrobotics: Biotic Materials as Ready‐to‐Use Actuators

Slip-resistant mechanism of bio-inspired foot end based on particle morphology and friction on ice and frozen ground

Energy saving, load bearing and attachment mechanism on ice and frozen ground of biomimetic mechanical foot

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