Science Robotics

Supplementary Materials

Supplementary Material for:

A biorobotic adhesive disc for underwater hitchhiking inspired by the remora suckerfish

Yueping Wang, Xingbang Yang, Yufeng Chen, Dylan K. Wainwright, Christopher P. Kenaley, Zheyuan Gong, Zemin Liu, Huan Liu, Juan Guan, Tianmiao Wang, James C. Weaver, Robert J. Wood,* Li Wen*

*Corresponding author. Email: liwen{at}buaa.edu.cn (L.W.); rjwood{at}eecs.harvard.edu (R.J.W.)

Published 20 September 2017, Sci. Robot. 2, eaan8072 (2017)
DOI: 10.1126/scirobotics.aan8072

This PDF file includes:

  • Text
  • Fig. S1. Experimental setup for remora locomotion observation during attachment and schematic diagrams of lamella kinematic analysis.
  • Fig. S2. Design details of the lamella plates and the artificial spinules.
  • Fig. S3. Fabrication procedures of the whole remora disc prototype.
  • Fig. S4. Design and fabrication of the soft actuators.
  • Fig. S5. Two prototypes (disc with lamellae only without spinules and disc with lamellae and with spinules) tested in this study.
  • Fig. S6. Experimental setup of forces and pressure measurements.
  • Fig. S7. ESEM images of three substrates and setup for the side-view contact visualization.
  • Fig. S8. Dimensionless amplitude of the lamellae’s marker point u versus time for the folding down motions of a live remora and the biomimetic remora disc.
  • Fig. S9. The fully ambient pressure differential of the prototype chamber versus the lamella pitch angle (θ) when the disc was attached to a smooth substrate.
  • Fig. S10. Pressure of the chamber during a complete pull-off process.
  • Fig. S11. Forward frictional forces on the (A) shark skin surface and (B) rough surface (Ra = 200 μm).
  • Table S1. Morphological parameters of three individual remoras and their adhesive discs.
  • Table S2. Physical parameters of the disc prototype and the lamellae.
  • Table S3. Length of the artificial spinule plates of the disc prototype.
  • Table S4. Geometry of a single laser-cut biomimetic spinule and the spinule plate.
  • Table S5. Stiffness of the components in the biomimetic prototype.
  • References (4143)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Demonstration of a remora's adhesive disc in the microCT data.
  • Movie S2 (.mp4 format). Remora lamella motion recorded by a high-speed camera (erect up and fold down).
  • Movie S3 (.mp4 format). Animation of lamella pitching mechanism.
  • Movie S4 (.mp4 format). Lamella motion of the biomimetic adhesive disc.
  • Movie S5 (.mp4 format). Lamella motion comparison between the biological and biomimetic adhesive disc (erect up and fold down, on the transparent glass surface).
  • Movie S6 (.mp4 format). Demonstration of the underwater attachment of the biorobotic remora disc via an underwater robotic system.
  • Movie S7 (.mp4 format). Demonstration of the biorobotic remora disc gripping a variety of items in air.

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