UC San Diego

Robots capable of generating adhesion forces that can achieve free movement in application environments while overcoming their own gravity are a subject of interest for researchers. A robot with controllable adhesion could be useful in many engineered systems. materials processing equipment, robots that climb walls, and pick-and-place machines are some examples. However, most adhesion methods either require a large energy supply system or are limited by the properties of the contact plane. For example, elector-magnetic adhesion requires a ferromagnetic surface and electrostatic adhesion requires a dielectric surface. Furthermore, nearly all existing approaches are only used to generate adhesion forces and often require additional mechanisms to remove the adhesive component from the surface. In this study, we aimed to develop a simpler method of adhering to a surface while simultaneously moving in directions parallel to the surface, using multiple vibration sources to generate normal adhesion. To test our approach, we constructed circular and elliptical models and conducted experiments with various inputs and model parameters. Our results show that this new method can achieve adhesive rotation and displacement in the plane without requiring any auxiliary operating system. By using only vibration sources, we were able to generate the necessary adhesion forces for the robot's motion. This work represents a step towards the construction of a small-sized tetherless robot that can overcome gravity and move freely in a general environment.