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Viko: An Adaptive Gecko Gripper with Vision-based Tactile Sensor [article]

Chohei Pang, Kinwing Mak, Yazhan Zhang, Yang Yang, Yu Alexander Tse, Michael Yu Wang
2021 arXiv   pre-print
However, due to the lack of deformable sensors, few have demonstrated tactile sensing for gecko grippers.  ...  Monitoring the state of contact is essential for robotic devices, especially grippers that implement gecko-inspired adhesives where intimate contact is crucial for a firm attachment.  ...  The adaptiveness of visionbased tactile sensors makes them preferable for contact measurements of gecko-inspired adhesives.  ... 
arXiv:2105.00680v1 fatcat:yhn6rbntsvhlvahw4kgf6kwtnq

Viko 2.0: A Hierarchical Gecko-inspired Adhesive Gripper with Visuotactile Sensor [article]

Chohei Pang, Qicheng Wang, Kinwing Mak, Hongyu Yu, Michael Yu Wang
2022 arXiv   pre-print
While hierarchical gecko-inspired adhesives are a potential technique for bridging performance gaps, they require a large contact area for efficient usage.  ...  Robotic grippers with visuotactile sensors have access to rich tactile information for grasping tasks but encounter difficulty in partially encompassing large objects with sufficient grip force.  ...  The paper is structured as follows: In Section II, we review related works in the design of hierarchical gecko-inspired adhesive and tactile sensing technologies.  ... 
arXiv:2204.10082v1 fatcat:23n4lpv2mzhgpfmsswvijpjvjm

Recent Advances in Skin-Inspired Sensors Enabled by Nanotechnology

Kenneth J. Loh, Faezeh Azhari
2012 JOM: The Member Journal of TMS  
This paper presents a summary of selected work related to skin-inspired tactile, distributed strain, and artificial hair cell flow sensors, with a particular focus on technologies enabled by recent advancements  ...  The highly optimized performance of nature's creations and biological assemblies has inspired the development of their bio-inspired artificial counterparts that can potentially outperform conventional  ...  of gecko-inspired robots, such as the mobile wireless sensing robot (which is equipped with magnetic wheels rather than smart adhesives) that has been designed by Zhu et al. 152 While this section has  ... 
doi:10.1007/s11837-012-0358-5 fatcat:4g4hocpjbjemvkxe4gj3wpaunm

Studying Stickiness: Methods, Trade-Offs, and Perspectives in Measuring Reversible Biological Adhesion and Friction

Luc M. van den Boogaart, Julian K. A. Langowski, Guillermo J. Amador
2022 Biomimetics  
Controlled, reversible attachment is widely spread throughout the animal kingdom: from ticks to tree frogs, whose weights span from 2 mg to 200 g, and from geckos to mosquitoes, who stick under vastly  ...  A fascinating and complex interplay of adhesive and frictional forces forms the foundation of attachment of these highly diverse systems to various substrates.  ...  Acknowledgments: We thank Dimitra Dodou for the helpful suggestions and discussions. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/biomimetics7030134 pmid:36134938 pmcid:PMC9496521 fatcat:4yu6m7jibjatphly4bvlpf6zdy

Robotics in scansorial environments

Kellar Autumn, Martin Buehler, Mark Cutkosky, Ronald Fearing, Robert J. Full, Daniel Goldman, Richard Groff, William Provancher, Alfred A. Rizzi, Uluc Saranli, Aaron Saunders, Daniel E. Koditschek (+3 others)
2005 Unmanned Ground Vehicle Technology VII  
Our robot designs are inspired by (but not direct copies of) biological climbers such as cockroaches, geckos, and squirrels.  ...  testing with an effective integration path for the novel materials and components.  ...  for biologically inspired running robots [18] .  ... 
doi:10.1117/12.606157 fatcat:op3m7kuxrzhm7oo4agmwb3qdnm

Soft-smart robotic end effectors with sensing, actuation, and gripping capabilities

Chaoqun Xiang, Jianglong Guo, Jonathan Rossiter
2019 Smart materials and structures (Print)  
Soft and smart robotic end effectors with integrated sensing, actuation, and gripping capabilities are important for autonomous and intelligent grasping and manipulation of difficult-to-handle and delicate  ...  sensing, actuation, and gripping capabilities.  ...  Furthermore, the authors thank the inspirations on TacTip fabrication and image processing from Krishna Digumarti, Andy Hinitt, Gabor Sorter, and Tim Help.  ... 
doi:10.1088/1361-665x/ab1176 fatcat:j37t65zueneedmzpknxi77274m

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Metin Sitti, Arianna Menciassi, Auke Jan Ijspeert, Kin Huat Low, Sangbae Kim
2013 IEEE/ASME transactions on mechatronics  
Finally, current challenges and future trends of bio-inspired mechatronic systems are described.  ...  Next, brief highlights of the 20 papers in this "Focused Section on Bio-Inspired Mechatronics" are given.  ...  Related to gecko-inspired climbing robots, Hawkes et al. present scaling issues of directional adhesives for climbing applications.  ... 
doi:10.1109/tmech.2012.2233492 fatcat:fdi73scdcjh5bmklmwmv4y6kyu

Design of parallel-jaw gripper tip surfaces for robust grasping

Menglong Guo, David V. Gealy, Jacky Liang, Jeffrey Mahler, Aimee Goncalves, Stephen McKinley, Juan Aparicio Ojea, Ken Goldberg
2017 2017 IEEE International Conference on Robotics and Automation (ICRA)  
We are grateful to our colleagues at Stanford for providing the gecko-inspired gripper surface material, in particular Mark Cutkosky, Elliot Hawkes, and Wilson Ruotolo, with special help from Vincent Duchaine  ...  Research stemming from fingerprint analysis has led to the development of gecko-inspired adhesives, which replicate the strong adhesion gecko feet possess [19] .  ...  For example, Hawkes et al. developed grippers that use shear adhesion of gecko-inspired fibrillar film micro-structures to grasp curved objects [20] .  ... 
doi:10.1109/icra.2017.7989330 dblp:conf/icra/GuoGLMGMOG17 fatcat:trxnw2jc4je7xes5ehzgj54ayi

The RiSE climbing robot: body and leg design

A. Saunders, D. I. Goldman, R. J. Full, M. Buehler, Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage
2006 Unmanned Systems Technology VIII  
The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments.  ...  It exhibits ground reaction forces that are similar to animal climbers and does not rely on suction, magnets or other surface-dependent specializations to achieve adhesion and shear force.  ...  The hexapod design chosen for the RiSE platform was informed by the simulation of the robot as inspired by cockroach and gecko climbing.  ... 
doi:10.1117/12.666150 fatcat:z5qgm6evqngejow62u4qmeevjq

Biomimetic Inspiration Regarding Nano-Tribology and Materials Issues in MEMS [chapter]

Ille C. Gebeshuber
2013 Nano-tribology and Materials in MEMS  
The outlook deals with perspectives of green and sustainable nanotribology for a liveable future for all.  ...  for nano-tribology and materials issues in MEMS.  ...  Work on the gecko foot by Autumn and colleagues [77, 78] inspired dry adhesives that work via intermolecular van der Waals forces and therefore act between all materials.  ... 
doi:10.1007/978-3-642-36935-3_2 fatcat:6tp5osxohvcuvbx2lrfaojtw6m

Electroadhesion Technologies for Robotics: A Comprehensive Review

Jianglong Guo, Jinsong Leng, Jonathan Rossiter
2019 IEEE Transactions on robotics  
[103] applied EA as surface traction units for turning and crawling. Ruffatto et al. [13] integrated EA with a gecko-inspired adhesive as a surface anchor for extending task durations.  ...  [36] ; the first graceful integration of EA and gecko-inspired adhesion (a significant step after the electro-dry-adhesion work developed by Krahn and Menon [37] ) with a geometrically optimized concentric  ... 
doi:10.1109/tro.2019.2956869 fatcat:6i7jtso2hvetregtqlj6l2wbva

Bactericidal surfaces: An emerging 21st-century ultra-precision manufacturing and materials puzzle

Mikel Larrañaga-Altuna, Alaitz Zabala, Iñigo Llavori, Oliver Pearce, Dinh T. Nguyen, Jaume Caro, Holger Mescheder, Jose L Endrino, Gaurav Goel, Wayne Nishio Ayre, Rajkumar Kottayasamy Seenivasagam, Debendra Kumar Tripathy (+2 others)
2021 Applied Physics Reviews  
Li et al. 62 also compared the adhesion of two different bacteria into the dorsal dorsum of the gecko. They proposed a model for the interaction between Gram-negative bacteria and the gecko skin.  ...  Adhesion Lots of insects and animals, such as flies, bees, and geckos, are well known for their ability to stick onto a wide range of surfaces.  ... 
doi:10.1063/5.0028844 fatcat:5onbg6zsgrbbbn65fzf57dp7d4

Biology and bioinspiration of soft robotics: Actuation, sensing, and system integration

Luquan Ren, Bingqian Li, Guowu Wei, Kunyang Wang, Zhengyi Song, Yuyang Wei, Lei Ren, Qingping Liu
2021 iScience  
Challenges for obtaining autonomous soft robotics similar to natural organisms are outlined to provide a perspective in this field.  ...  Organisms in nature grow with senses, nervous, and actuation systems coordinated in ingenious ways to sustain metabolism and other essential life activities.  ...  Hierarchical structures inspired by gecko foot hairs have recently been introduced in tactile sensors to achieve high sensitivity, fast response, and good durability.  ... 
doi:10.1016/j.isci.2021.103075 pmid:34568796 pmcid:PMC8449090 fatcat:4darud5p5nainos6zggpqrg35a


Jakob Leitner, Michael Haller
2011 Proceedings of the 2011 annual conference on Human factors in computing systems - CHI '11  
Geckos are based on low-cost permanent magnets and can also be used on non-horizontal surfaces. Unique pressure footprints are used to identify each tangible Gecko.  ...  In this paper we present Geckos, a new type of tangible objects which are tracked using a Force-Sensitive Resistance sensor.  ...  We would like to thank our sponsors AMS Research, 3M, WU Wien for their support and to our reviewers for their useful comments.  ... 
doi:10.1145/1978942.1979385 dblp:conf/chi/LeitnerH11 fatcat:x5vh3yny3vcxbhtggh7welarbu

Functional surface microstructures inspired by nature – from adhesion and wetting principles to sustainable new devices

Eduard Arzt, Haocheng Quan, Robert M. McMeeking, René Hensel
2021 Progress in Materials Science  
, and sensing.  ...  Investigations into biological surfaces, ranging from plants, insects and geckos to aquatic animals, have inspired the design of intricate surface patterns to create useful functionalities.  ...  (a) The gecko foot with submicron attachments inspires novel skin adhesives with electrodes for health monitoring applications. Left two panels copyright INM.  ... 
doi:10.1016/j.pmatsci.2021.100778 fatcat:5hayyl6xgvbg7c2aey37n7pvsa
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