세미나 및 이벤트
STICKYBOT: A Bio-Inspired Climbing Robot
세미나 날짜
2007-01-03
작성자
박심령
작성일
2006-12-28
조회
1453
1. 제 목 : STICKYBOT: A Bio-Inspired Climbing Robot
2. 연 사 : 김 상 배 박사 (Center for Design Research, Stanford University)
3. 일 시 : 2007년 1월 3일 (수) 3:00 - 4:00
4. 장 소 : 301동 102호 멀티미디어 강의실
5. 내 용 :
We present a bio-inspired climbing robot, STICKYBOT, and the design principles
behind it. The robot draws its inspiration from geckos and other climbing lizards
utilizing hyper-extended toes, directional adhesives, and compliance and force
control strategies to climb smooth vertical surfaces including glass, tile and
plastic panels. STICKYBOT employs multiple levels of compliance, at length scales
ranging from centimeters to micrometers, to allow the robot to conform to
surfaces, and maintain large areas of contact so that adhesive forces can support
it. Drawing inspiration from newly revealed features of a gecko hair's adhesion
properties, a new material, DPS (directional polymeric stalk), is introduced. Upon
directionality in adhesion, DPS enables instantaneous attachment and smooth
disengagement under proper loading and unloading conditions. A force control
strategy for DPS works in conjunction with the compliance system to obtain
sufficient levels of friction and adhesion for climbing with low attachment and
detachment forces.
6. 연사약력 :
Sangbae Kim received his B.S. degree in Mechanical Engineering from Yonsei
University in Seoul, Korea in 2001. He is currently completing his Ph.D. in the
Biomimetic Robotics Laboratory at the Stanford Center for Design Research. Kim has
been the principal designer of several bio-inspired legged robots,including
ISPRAWL, a cockroach-inspired hexapod that runs at up to 15 body-lengths per
second over rough terrain, SPINYBOT, an arthropod-inspired robot that climbs
vertical outdoor surfaces such as stucco and concrete,and STICKYBOT, a gecko-
inspired robot that employs anisotropic dry adhesive pads to climb smooth vertical
surfaces such as windows. The design principles behind these robots are described
in several publications and four pending patents for which Kim is the primary
inventor. A video of Spinybot received the Best Video Award at the 2006 IEEE
International Conference on Robotics and Automation. STICKYBOT was selected as one
of the BEST INVENTIONS IN 2006 by TIME magazine. Sangbae Kim's research interests
include the design and modeling of compliant under-actuated mechanisms to improve
the performance and simplify the control of robots, and multi-material rapid-
prototyping methods for bio-inspired robotic systems.
7. 문 의 : 기계항공공학부 박종우 교수(☏ 880-7133)
2. 연 사 : 김 상 배 박사 (Center for Design Research, Stanford University)
3. 일 시 : 2007년 1월 3일 (수) 3:00 - 4:00
4. 장 소 : 301동 102호 멀티미디어 강의실
5. 내 용 :
We present a bio-inspired climbing robot, STICKYBOT, and the design principles
behind it. The robot draws its inspiration from geckos and other climbing lizards
utilizing hyper-extended toes, directional adhesives, and compliance and force
control strategies to climb smooth vertical surfaces including glass, tile and
plastic panels. STICKYBOT employs multiple levels of compliance, at length scales
ranging from centimeters to micrometers, to allow the robot to conform to
surfaces, and maintain large areas of contact so that adhesive forces can support
it. Drawing inspiration from newly revealed features of a gecko hair's adhesion
properties, a new material, DPS (directional polymeric stalk), is introduced. Upon
directionality in adhesion, DPS enables instantaneous attachment and smooth
disengagement under proper loading and unloading conditions. A force control
strategy for DPS works in conjunction with the compliance system to obtain
sufficient levels of friction and adhesion for climbing with low attachment and
detachment forces.
6. 연사약력 :
Sangbae Kim received his B.S. degree in Mechanical Engineering from Yonsei
University in Seoul, Korea in 2001. He is currently completing his Ph.D. in the
Biomimetic Robotics Laboratory at the Stanford Center for Design Research. Kim has
been the principal designer of several bio-inspired legged robots,including
ISPRAWL, a cockroach-inspired hexapod that runs at up to 15 body-lengths per
second over rough terrain, SPINYBOT, an arthropod-inspired robot that climbs
vertical outdoor surfaces such as stucco and concrete,and STICKYBOT, a gecko-
inspired robot that employs anisotropic dry adhesive pads to climb smooth vertical
surfaces such as windows. The design principles behind these robots are described
in several publications and four pending patents for which Kim is the primary
inventor. A video of Spinybot received the Best Video Award at the 2006 IEEE
International Conference on Robotics and Automation. STICKYBOT was selected as one
of the BEST INVENTIONS IN 2006 by TIME magazine. Sangbae Kim's research interests
include the design and modeling of compliant under-actuated mechanisms to improve
the performance and simplify the control of robots, and multi-material rapid-
prototyping methods for bio-inspired robotic systems.
7. 문 의 : 기계항공공학부 박종우 교수(☏ 880-7133)
