A Biomimetic Adhesive Disc for Robotic Adhesion Sliding Inspired by the Net-Winged Midge Larva

作者：Haoyuan Xu, Jiale Zhi, Bohan Chen, Shuyong Zhao, Jie Huang, Changlong Bi, Lei Li, Bochen Tian, Yuchen Liu, Yiyuan Zhang, JinXi Duan, Fuqiang Yang, Xia He, Kun Xu, Ke Wu, Tianmiao Wang, Pham H. Nguyen, Xilun Ding, Li Wen · 发表于：Soft Robotics · 年份：2024 · DOI：10.1089/soro.2023.0253 · 被引用次数：8 · 研究领域：Adhesion, Friction, and Surface Interactions、Tribology and Lubrication Engineering、Advanced Measurement and Metrology Techniques

Net-winged midge larvae (Blephariceridae) are known for their remarkable ability to adhere to and crawl on the slippery surfaces of rocks in fast-flowing and turbulent alpine streams, waterfalls, and rivers. This remarkable performance can be attributed to the larvae's powerful ventral suckers. In this article, we first develop a theoretical model of the piston-driven sucker that considers the lubricated state of the contact area. We then implement a piston-driven robotic sucker featuring a V-shaped notch to explore the adhesion-sliding mechanism. Each biomimetic larval sucker has the unique feature of an anterior-facing V-shaped notch on its soft disc rim; it slides along the shear direction while the entire disc surface maintains powerful adhesion on the benthic substrate, just like the biological counterpart. We found that this biomimetic sucker can reversibly transit between "high friction" (4.26 ± 0.34 kPa) and "low friction" (0.41 ± 0.02 kPa) states due to the piston movement, resulting in a frictional enhancement of up to 93.9%. We also elucidate the frictional anisotropy (forward/backward force ratio: 0.81) caused by the V-shaped notch. To demonstrate the robotic application of this adhesion-sliding mechanism, we designed an underwater crawling robot Adhesion Sliding Robot-1 (ASR-1) equipped with two biomimetic ventral suckers. This robot can successfully crawl on a variety of substrates such as curved surfaces, sidewalls, and overhangs and against turbulent water cur...