Soft Electroadhesive Feet for Micro Aerial Robots Perching on Smooth and Curved Surfaces
2026-04-10 • Robotics
Robotics
AI summaryⓘ
The authors developed soft and stretchable pads that can stick to surfaces using electric signals, helping tiny flying robots land and hold onto smooth surfaces. They created a way to make these pads with special electrode designs and tested how well they stick when the electricity is on versus off. Their tests showed the pads stick more by sliding force than by direct pressing force, and the grip depends on the surface type. They also demonstrated a small drone successfully landing on flat and curved surfaces using these pads, with easy release when the electricity is turned off. This work shows these electric pads could help tiny flying robots perch securely and detach quickly.
ElectroadhesionMicro aerial robotsSoft roboticsStretchable electronicsAdhesion forcesShear adhesionNormal adhesionElectrodesQuadrotorPerching
Authors
Chen Liu, Sonu Feroz, Ketao Zhang
Abstract
Electroadhesion (EA) provides electrically switchable adhesion and is a promising mechanism for perching micro aerial robots on smooth surfaces. However, practical implementations of soft and stretchable EA pads for aerial perching remain limited. This work presents (i) an efficient workflow for fabricating soft, stretchable electroadhesive pads with sinusoidal wave and concentric-circle electrodes in multiple sizes, (ii) a controlled experimental comparison of normal and shear adhesion under inactive (0 kV) and active (4.8 kV) conditions using an Instron-based setup, and (iii) a perching demonstration using a Crazyflie quadrotor equipped with electroadhesive feet on flat and curved substrates. Experimental results show that shear adhesion dominates, reaching forces on the order of 3 N with partial pad contact, while normal adhesion is comparatively small and strongly dependent on substrate properties. The Crazyflie prototype demonstrates repeatable attachment on smooth plastic surfaces, including curved geometries, as well as rapid detachment when the voltage is removed. These results highlight the potential of soft electroadhesive feet for lightweight and reliable perching in micro aerial vehicles (MAVs).