-- MarkCutkosky for WillP? - 25 Jul 2003

Questions for Visit to Autumn lab

(We'll organize this a little better as time permits -- this page is a duplicate of the one in Will's personal directory. 'moved it here so that others can add and edit).

From Foot Brainstorming Meeting (7/15/03)

  • How much fluid required per weight?  surface area/weight (will a small amount of wet adhesion help here?) thickness of thin film viscosity
  • Is there a specific claw geometry common among animals and insects
that climb?
  • Is there a specific angle that these claws optimally attach at?
  • Do these animals employ a specific attachment strategy (approach
tragectory or progression as they plant their foot)?

From MotohideHatanaka
How strong are the forces of organisms clinging on to a vertical wall?
How do the forces vary depending on direction?
How do the forces vary depending on surface material? surface roughness?
surface cleanness? surface temperature? surface wettability?
Can Mike B's sensors be used to measure forces of insect climbing a
vertical wall or angled slope?

Do insects keep their claws sharp? How much do they wear out? Do they
grow back?

Do insects have to slow down their climbing speed when they rely on
adhesion rather than claws?

How do animals handle the transitions from horizontal to vertical and
vice versa? Can the POLYPEDAL lab provide us with some video footages?
We are interested in leg use as well as body flexion.

Do insects use wings to increase surface normal force? I think I have
observed such cases on a slippery surface (glass?), but they were
probably trying to fly.

A convex shape (e.g. a tree) seems easy to climb whereas concave
surfaces (e.g. inside a tube, with diameter larger than your arms can
reach) seems challenging.
What are the ranges of concave and convex curvature that animals can
climb? How are the ranges related to surface qualities as mentioned in
question (1)? How do animals change their gait and force exertion

How do animals get back on their feet after they have fallen on their
I've seen an insect having a very hard time getting up, so I decided to
help him after 2mins of observation. It was on a flat concrete floor. I
guess insects are not designed to survive in such a flat artificial

What kind of shock absorption motions do animals show when landing
after a fall? (Cats show very nice motion. )
Do insects do anything? Like a judo pratitioner would know how to
minimize impact. E.g. Bring limbs close to their body to prevent
breaking them, tightening up muscles, etc.
Do they even notice that they are falling? (I guess yes, at least in
some cases, because insects that can fly just start to do so)
What is magnitude of the force or acceleration an animal experiences at
such a landing?
Most importantly, at what size do animals begin to show active reflex to
reduce landing impact? (Assuming that insects don't do very much, and
cats and squirrels do)

From Jonathan
Is there a temperature constraint on the material used for synth. setae?
I.e. is is going to melt if we embed it into an SDM part?

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