Electroadhesion Technologies For Robotics: A Comprehensive Review

Jianglong Guo, Jinsong Leng*, Jonathan M Rossiter

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)

511 Downloads (Pure)

Abstract

Electroadhesion (EA) is an electrically controllable adhesion mechanism that has been studied and used in fields including active adhesion and attachment, robotic gripping, robotic crawling and climbing, and haptics, for over a century. This is because EA technologies, compared to other existing adhesion solutions, facilitate systems with enhanced adaptability (EA is effective on a wide of range of materials and surfaces), reduced system complexity (EA systems are both mechanically and electrically simpler), low energy consumption, and less-damaging to materials (EA, combined with soft materials, can be used to lift delicate objects). In this survey, we comprehensively detail the working principle, modeling, design, fabrication, characterization, and applications of EA technologies employed in robotics, aiming to provide guidance and offer potential insights for future EA researchers and applicants. Joint and collaborative efforts are still required to promote the in-depth understanding and mature employment of this promising adhesion and gripping technology in various robotic applications.
Original languageEnglish
Pages (from-to)313-327
Number of pages15
JournalIEEE Transactions on Robotics
Volume36
Issue number2
DOIs
Publication statusPublished - 31 Dec 2019

Keywords

  • Controllable adhesion
  • crawling and climbing
  • robotics
  • haptics
  • electroadhesion (EA)
  • grasping
  • grippers and other end effectors

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