Incipient Slip Detection and Recovery for Controllable Gecko-Inspired Adhesion

Abstract

We present work on incipient slip sensing and recovery for controllable gecko-inspired adhesives. The approach is based on the relationship between changes in real contact area and maximum shear force. Using signals from an on-board tactile sensor, we detect the onset of adhesive failure and execute recovery behavior. Results show the system using tactile sensor feedback is able to achieve >92% of the peak adhesion performance achieved with a force plate and commercial load cell. Results are consistent over a variety of common smooth surfaces, with the system achieving repeatable force loading behavior independent of varying materials and surface conditions.