Anisotropic adhesion model for translational and rotational motion

This paper describes a model of anisotropic adhesion for dynamics simulations. The model encompasses the adhesion properties observed in geckos. The model is developed by extending a conventional friction model, and the dynamic contact forces are calculated from the relative rotational and translational motion between the adhesive material and the contact surface. The resulting model can be used to simulate the six-degree-of-freedom motion of rigid bodies such as gecko-inspired robotic feet.