A model of anisotropic adhesion for dynamic locomotion control

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.