Gecko's excellent adhesion ability is thought to derive from van der Waals force generated between the millions of keratinous hairs/setae and the contact surface.Fabricating highly gecko-inspired foot-hair becomes one of the key technologies to realize the three-dimensional-obstacle-free motion of robot.Researchers have fabricated various gecko-like foot-hair arrays which have leaning,large end,and hierarchical structures.Those significant works are summarized and suggestions for future work are proposed in this paper.
To understand the mechanical interactions when geckos move on ceiling and to obtain an inspiration on the controlling strategy of gecko-like robot,we measured the ceiling reaction force(CRF) of freely moving geckos on ceiling substrate by a 3-dimensional force measuring array and simultaneously recorded the locomotion behaviors by a high speed camera.CRF and the preload force(FP) generated by the geckos were obtained and the functions and the differences between forces generated by fore-and hind-feet were discussed.The results showed that the speed of gecko moving on the ceiling was 0.17-0.48 m/s,all of the fore-and hind-legs pulled toward the body center.When geckos attached on the ceiling incipiently,the feet generated a very small incipient FP and this fine FP could bring about enough adhesive normal force and tangential force to make the gecko moving on ceiling safely.The FP of the fore-feet is larger than that of the hind-feet.The lateral CRF of the fore-feet is almost the same as that of the hind-feet's.The fore-aft CRF generated by the fore-feet directed to the motion direction and drove their locomotion,but the force generated by the hind-feet directed against the motion direction.The normal CRF of fore-and hind-feet accounted for 73.4% and 60.6% of the body weight respectively.Measurements show that the fore-aft CRF is obviously lager than the lateral and normal CRF and plays a major role in promoting the fore-feet,while the hind-feet of the main role are to provide a smooth movement.The results indicate that due to the differences of the locomotion function of each foot between different surfaces,the gecko can freely move on ceiling surfaces,which inspires the structure designing,gait planning and control developing for gecko-like robot.
During locomotion, insect feet endure dramatic impact force and generate adhesive force which is controlled by the architecture of the foot. The patterns of smooth attachment pads in insect feet vary widely among insect orders and families. The functional significance of the micro-structure and geometric design of insect feet remains largely unknown. In this study, we developed a two-dimensional finite element model of a grasshopper's attachment pad. Realistic geometric microstructure and material properties are applied in the biomechanical analysis of the structural behavior during contact. Here we use scanning electronic microscopy to study the microstructure of the grasshopper's pad, and then use the finite element method to calculate the deformation vector fields, contact stiffness, contact area, function of the airbag and strain fields during the contact process. The results reveal that the geometric design and material topology of a grasshopper's pads are very effective in reducing contact stiffness, increasing contact area and generating high friction force during the contact procedure. The rod-containing structure supporting the soft exocuticle makes the pads highly adaptive to various surfaces and decreases the stress inside the pads.
