Movement of A Bio-inspired Robot under Simulated Microgravity Environment: Footpad Modeling, Simulation and Experiment

This paper focuses on the influence of simulated microgravity on the application of dry adhesion robots to the space environment. Firstly, the flexible model of the dry adhesion robot footpad and the dynamic model of the fuselage are firstly established by means of biological observation. Secondly, the motion simulation of the test prototype is carried out, and parameters such as centroid displacement and footpad contact force are analyzed under gravity and simulated microgravity environment respectively. Then it is derived that the effect of elastic modulus of footpad base on material properties and the changes due to simulated microgravity in the movement mode and the adhesion and desorption mode. Finally, the feasibility of dry adhesion robot in simulated microgravity environment is proved through experiments.