NDLI: Electroadhesive robots—wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology

Content Provider	IEEE Xplore Digital Library
Author	Prahlad, H. Pelrine, R. Stanford, S. Marlow, J. Kornbluh, R.
Copyright Year	2008
Description	Author affiliation: SRI Int., Menlo Park, CA (Prahlad, H.; Pelrine, R.; Stanford, S.; Marlow, J.; Kornbluh, R.)
Abstract	This paper describes a novel clamping technology called compliant electroadhesion, as well as the first application of this technology to wall climbing robots. As the name implies, electroadhesion is an electrically controllable adhesion technology. It involves inducing electrostatic charges on a wall substrate using a power supply connected to compliant pads situated on the moving robot. High clamping forces (0.2-1.4 Newton supported by 1 square centimeter of clamp area, depending on substrate) have been demonstrated on a wide variety of common building substrates, both rough and smooth as well as both electrically conductive and insulating. Unlike conventional adhesives or dry adhesives, the electroadhesion can be modulated or turned off for mobility or cleaning. The technology uses a very small amount of power (on the order of 20 microwatts/Newton weight held) and shows the ability to repeatably clamp to wall substrates that are heavily covered in dust or other debris. Using this technology, SRI International has demonstrated a variety of wall climbing robots including tracked and legged robots.
Starting Page	3028
Ending Page	3033
File Size	523263
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543670
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Climbing robots Robust control Adhesives Clamps Electrostatics Power supplies Dielectrics and electrical insulation Cleaning Insulation life Legged locomotion
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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