Grasping without Squeezing
Robotic Grasping of Large Objects
Demo of Film Grasping Ball
Demo of Bi-stable Grasping Device
Passive Catching of Tossed Ball
Leveraging the unique mechanics of controllable gecko-inspired adhesives, we are able to grasp objects without applying a normal force. Instead, we rely only on the contact area between the gripper and the object.
Human Climbing with Gecko Adhesives
NYTimes ScienceTake | Harnessing Gecko Power by David Frank
Sensor Images of Tokay Gecko Feet
Stanford Scientists Save Spider-Man
Climbing with Gecko Adhesives
While numerous variations of synthetic gecko-inspired adhesives have been shown to provide strong, reusable adhesion, we focused on scaling this adhesion to the sizes needed to support a human. With special attention to load sharing, we were able to climb a glass wall with a hand-sized area of synthetic adhesive.
Hawkes E.W., Eason E.V., Christensen .DL., Cutkosky M.R. 2015 "Human climbing with efficiently scaled gecko-inspired dry adhesives." Journal of the Royal Society Interface 12: 20140675. Online Preprint
Inverse Pneumatic Artificial Muscle (IPAM)
IPAM Lifting 2kg
IPAM Lifting and Launching ICRA Duck
Animation Explaining Concept
500% Strain Demo
Instead of inflating our artificial muscle to cause contraction as traditional pneumatic artificial muscles (PAMs) do, we inflate to lengthen, or relax, the muscle. In doing so, we store elastic energy that can powerfully released on command. This scheme of actuation also allows for unprecedented strain rates from our actuators.
MicroClimber Hoisting Old Stickybot
Animation of Climbing
20 mg MicroClimber Hoisting 500 g
We developed two small-scale robotic climbers that can hoist many times their weight. One is 9 g and is powered by a single servo motor, using an inchworm gait to move up the wall while carrying over 1 kg (>100x bodyweight). The second is a tiny 20 mg climbing, powered by SMA that can hoist 500 mg.