Properties validation of an anisotropic dry adhesion designed for legged climbing robots

The anisotropy of dry adhesion increases the efficiency of climbing animals when sticking to different surfaces because less energy is required to detach their feet when compared with isotropic adhesion mechanisms. To replicate this functionality, a synthetic anisotropic dry adhesive has been fabricated using elastomer fibers with offset caps. This paper presents the properties validation of a designed anisotropic dry adhesive. Experiment results show that the adhesive has achieved the desired anisotropic behavior. Further analysis of the relationship between pulling angle, sample thickness and adhesive loading orientation reveals potential strategies in dry adhesive implementation on a preliminarily developed legged climbing robot.