DocumentCode
3310744
Title
A model of anisotropic adhesion for dynamic locomotion control
Author
Kato, Haruhisa
Author_Institution
Frontier Res. Center, Canon Inc., Tokyo, Japan
fYear
2013
fDate
4-7 Aug. 2013
Firstpage
291
Lastpage
296
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2013 IEEE International Conference on
Conference_Location
Takamatsu
Print_ISBN
978-1-4673-5557-5
Type
conf
DOI
10.1109/ICMA.2013.6617933
Filename
6617933
Link To Document