ICRA 2014 Workshop “Frontier of Bioinspired Systems based on Micro-Nanorobotics” Micro/Nano Surface and Particle Grasping

Control of robot grasping of surfaces is important for both increasing friction to avoid slip, increasing adhesion to allow wall-climbing robots, and to controllably grasp and release microparticles. Arrays of hard polymer microfibers can be fabricated by molding, providing on the order of 100 million passive nanofingers per square centimeter. Through control of nanofiber geometry under specific loading conditions, directional adhesive surfaces can be demonstrated which easily attach and release. These arrays can adhere, yet self-clean due to modulation of adhesion. d) Gecko lamella structure for rough surfaces a) Magnetically controllable adhesive surface