Title :
A model of anisotropic adhesion for dynamic locomotion control
Author_Institution :
Frontier Res. Center, Canon Inc., Tokyo, Japan
Abstract :
This paper describes a model of anisotropic adhesion for the design of dynamic locomotion control in gecko-inspired robots. The model includes the anisotropic adhesion properties observed in geckos, and the adhesive and frictional forces in the contact plane. The dynamic contact forces are calculated from the relative motion between the adhesive material and the contact surface. The dynamic adhesive stability of a gecko robot is effectively simulated by the model.
Keywords :
adhesion; control system synthesis; friction; legged locomotion; mechanical stability; robot dynamics; adhesive forces; adhesive material; anisotropic adhesion model; anisotropic adhesion properties; contact plane; contact surface; dynamic adhesive stability; dynamic contact forces; dynamic locomotion control design; frictional forces; gecko-inspired robots; relative motion; Adhesives; Damping; Dynamics; Force; Friction; Mathematical model; Robots; Adhesion; friction; gecko robot; modeling;
Conference_Titel :
Mechatronics and Automation (ICMA), 2013 IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4673-5557-5
DOI :
10.1109/ICMA.2013.6617933
