Incipient Slip Detection and Recovery for Controllable Gecko-Inspired Adhesion
Xin Alice Wu, David L. Christensen, Srinivasan A. Suresh, Hao Jiang, William R. T. Roderick, Mark R. Cutkosky
Abstract
We present work on incipient slip sensing and recovery for controllable gecko-inspired adhesives. The approach is based on the relationship between changes in real contact area and maximum shear force. Using signals from an on-board tactile sensor, we detect the onset of adhesive failure and execute recovery behavior. Results show the system using tactile sensor feedback is able to achieve >92% of the peak adhesion performance achieved with a force plate and commercial load cell. Results are consistent over a variety of common smooth surfaces, with the system achieving repeatable force loading behavior independent of varying materials and surface conditions.
BibTeX
@inproceedings{ral2017_incipientslipdet,
title = {Incipient Slip Detection and Recovery for Controllable Gecko-Inspired Adhesion},
author = {Xin Alice Wu and David L. Christensen and Srinivasan A. Suresh and Hao Jiang and William R. T. Roderick and Mark R. Cutkosky},
booktitle = {RA-L 2017},
year = {2017}
}