THESIS
2023
1 online resource (xix, 128 pages) : illustrations (some color)
Abstract
The ability of robots to interact with their environment and handle various objects is
a crucial aspect of their usefulness in diverse fields, including manufacturing and exploration.
In recent years, there has been an increasing demand for advanced robotic grippers
capable of handling delicate, fragile, and small objects with precision, adaptability, and
sensitivity. Bioinspired adhesive structures and tactile sensing techniques have been extensively
studied to address this need, taking inspiration from the remarkable attachment
systems observed in nature, like the one found in the Tokay gecko.
Gecko-inspired adhesives have attracted significant interest in robotics due to their
remarkable properties, such as strong yet controllable attachment, insensitivity to surface
conditions, and...[
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The ability of robots to interact with their environment and handle various objects is
a crucial aspect of their usefulness in diverse fields, including manufacturing and exploration.
In recent years, there has been an increasing demand for advanced robotic grippers
capable of handling delicate, fragile, and small objects with precision, adaptability, and
sensitivity. Bioinspired adhesive structures and tactile sensing techniques have been extensively
studied to address this need, taking inspiration from the remarkable attachment
systems observed in nature, like the one found in the Tokay gecko.
Gecko-inspired adhesives have attracted significant interest in robotics due to their
remarkable properties, such as strong yet controllable attachment, insensitivity to surface
conditions, and simple actuation means. These adhesives offer advantages over conventional
attachment methods, such as pressure-sensitive adhesives and suction cups, by
providing swift switching between attachment and detachment modes without leaving
residues. Furthermore, they require only small preload forces to generate high adhesion
in both normal and shear directions.
This thesis presents a comprehensive investigation into the design and optimization,
fabrication, and integration of these bioinspired adhesive microstructures with vision-based
tactile sensors to enhance the performance of robotic grippers. It enables gripper
to perform complex tasks with improved dexterity, adaptability, and sensitivity, offering
promising solutions for various applications.
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