Design and fabrication of multi-material structures for bioinspired robots

Cutkosky, Mark R.; Kim, Sangbae

doi:10.1098/rsta.2009.0013

Cited by 94 publications

(48 citation statements)

References 44 publications

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“…Geckos, which can walk up walls and hang upside down, also possess a hierarchical structure giving them controllable super-adhesion on their feet (Gorb 2001;Bhushan 2007Bhushan , 2010. By creating these directional superadhesive surfaces on legs of a robot, it is possible to create a robot that can climb walls like a gecko (Cutkosky & Kim 2009).…”

Section: Introductionmentioning

confidence: 99%

Shark-skin surfaces for fluid-drag reduction in turbulent flow: a review

Dean

Bhushan

2010

Phil. Trans. R. Soc. A.

623

381

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The skin of fast-swimming sharks exhibits riblet structures aligned in the direction of flow that are known to reduce skin friction drag in the turbulent-flow regime. Structures have been fabricated for study and application that replicate and improve upon the natural shape of the shark-skin riblets, providing a maximum drag reduction of nearly 10 per cent. Mechanisms of fluid drag in turbulent flow and riblet-drag reduction theories from experiment and simulation are discussed. A review of riblet-performance studies is given, and optimal riblet geometries are defined. A survey of studies experimenting with riblettopped shark-scale replicas is also given. A method for selecting optimal riblet dimensions based on fluid-flow characteristics is detailed, and current manufacturing techniques are outlined. Due to the presence of small amounts of mucus on the skin of a shark, it is expected that the localized application of hydrophobic materials will alter the flow field around the riblets in some way beneficial to the goals of increased drag reduction.

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Section: Introductionmentioning

confidence: 99%

Shark-skin surfaces for fluid-drag reduction in turbulent flow: a review

Dean

Bhushan

2010

Phil. Trans. R. Soc. A.

623

381

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“…Continuous rotation actuators, electrical power storage, simple mechanisms, high-performance materials [193], and simple high-speed sensor suites have enabled aerial robots to perch on surface types on which many animals cannot land. Robotic solutions, although far less versatile, sophisticated, or robust than those of animals, can take advantage of more limited objectives and stronger materials so that very simple solutions work surprisingly well.…”

Section: Future Directions In the Field Of Air -Surface Transitions Amentioning

confidence: 99%

Touchdown to take-off: at the interface of flight and surface locomotion

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

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Small aerial robots are limited to short mission times because aerodynamic and energy conversion efficiency diminish with scale. One way to extend mission times is to perch, as biological flyers do. Beyond perching, small robot flyers benefit from manoeuvring on surfaces for a diverse set of tasks, including exploration, inspection and collection of samples. These opportunities have prompted an interest in bimodal aerial and surface locomotion on both engineered and natural surfaces. To accomplish such novel robot behaviours, recent efforts have included advancing our understanding of the aerodynamics of surface approach and take-off, the contact dynamics of perching and attachment and making surface locomotion more efficient and robust. While current aerial robots show promise, flying animals, including insects, bats and birds, far surpass them in versatility, reliability and robustness. The maximal size of both perching animals and robots is limited by scaling laws for both adhesion and claw-based surface attachment. Biomechanists can use the current variety of specialized robots as inspiration for probing unknown aspects of bimodal animal locomotion. Similarly, the pitch-up landing manoeuvres and surface attachment techniques of animals can offer an evolutionary design guide for developing robots that perch on more diverse and complex surfaces.

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“…Various attempts have been made to imitate the gecko pad structure to fabricate artificial adhesives, typically using mushroom-shaped micrometric terminal elements manufactured using polymeric materials [10][11][12][13] , although hierarchical architectures remain to be efficiently implemented. Climber robots have also been designed, exploiting these bioinspired adhesive films 14,15 . The mushroom-shaped elements in artificial adhesives replicate the 2D profile of gecko spatula 16,17 , and the detachment mechanism of both is reminiscent of the peeling process of a tape-like film from a substrate 18 .…”

Section: Introductionmentioning

confidence: 99%

Hierarchical multiple peeling simulations

et al. 2014

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ARTICLEThis journal is © The Royal Society of Chemistry 2013 J. Name., 2013, 00, 1-3 | 1 The phenomenon of the exceptional dry adhesion achieved by natural biological materials has been widely investigated in recent years. In particular, the analysis of the terminal elements of gecko pads and their specific structure and topology has led to the development of bioinspired synthetic fibrillar adhesives, including mushroom-shaped tips for optimizing adhesion. To model the expected adhesion and detachment behaviour of multiple contacts, in the past we have derived a theory of multiple peeling, extending the pioneering energy -based single peeling theory of Kendall, including large deformations and pre-stretching. In this contribution, we study the problem of the adhesion of single and multiple contacts using Finite Element analysis, with the aim of studying complex peeling geometries. Both non-hierarchical tape-like and hierarchical geometries are considered, and the adhesive properties of are compared, showing a marked improvement in the latter case. Results are promising and the numerical approach can be exploited in future attempts to determine optimal configurations and improve the adhesion of artificial bioinspired structures.

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Design and fabrication of multi-material structures for bioinspired robots

Cited by 94 publications

References 44 publications

Shark-skin surfaces for fluid-drag reduction in turbulent flow: a review

Shark-skin surfaces for fluid-drag reduction in turbulent flow: a review

Touchdown to take-off: at the interface of flight and surface locomotion

Hierarchical multiple peeling simulations

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