动物高稳定黏附与快速易脱附的跨尺度调控机制及仿生设计

高性能的仿生黏附系统是智能机器人实现无障碍全空间运动作业的关键之一。尽管当前已经研制了许多高性能的黏附材料，但在实际应用中，仿生黏附材料并没有发挥其理想的黏附性能，依然远远落后于动物黏附系统的性能，原因在于对于动物黏附系统的多层级跨尺度调控机制尚不清楚，缺乏与仿生黏附材料匹配的仿生柔性脚趾。本项目的研究目标：揭示动物黏附系统（脚掌—脚趾—皮瓣—刚毛）跨尺度调控机制，建立仿生黏附结构设计准则及控制策略，实现仿生黏附机构与目标基底的高稳定黏附与快速易脱附。研究内容：大壁虎黏附系统的神经控制基础、结构-力学特性及协同变化规律；跨尺度自适应变刚度黏附系统的模型建立及动力学控制；自适应变刚度仿生柔性脚趾的研制及仿生黏附机构的功能验证。申请人一直从事动物黏附机制和与运动力学研究，团队结构合理，具有从事生物力学、神经控制、工程测试和机械控制研究工作的基础，能够解决项目中难题，完成项目。

High-performing bio-inspired attachment systems are one of the keys for intelligent robots to move in full space with no barriers. However, despite that a lot of adhesive materials have been developed, biomimetic attachment systems adopting these materials do not exert their ideal adhesion properties and still lag far behind the performance of real animal adhesion systems, which result from the insufficient understanding and applications of the multi-hierarchical control mechanisms employed by natural attachment systems and the lack of bionic flexible digitals that match the bio-adhesions. Goals of this project: to reveal the multi-hierarchical control mechanisms employed by natural attachment systems (pad-digital-lamellae-setae); to establish the design principles and control strategies for bio-inspired attachment structure; to achieve highly stabile attachment and rapidly easy detachment of bio-inspired attachment mechanism to the target substrate. Contents: the neural control basis, structure-mechanical characteristics and the law of synergistic change of the gecko adhesion system; the development of adaptive variable stiffness bio-inspired flexible digital and functional verification of bio-inspired adhesion mechanism. The applicant has been engaged in the adhesion mechanism and biomechanics of geckos, and the organizational structure of our team is reasonable, with the foundation of biomechanics, neural control, engineering testing and mechanical control, so we can solve problems in the project and complete it well.