Science Robotics

Supplementary Materials

The PDF file includes:

  • Note S1. Cost of transport calculation.
  • Note S2. Charge accumulation measurements.
  • Fig. S1. Schematic of HAMR-E’s SFB transmission.
  • Fig. S2. Electroadhesive force measurement details.
  • Fig. S3. Electrode manufacturing methods.
  • Fig. S4. Final swing and lift input waveforms.
  • Fig. S5. System-level diagram of the open-loop controller.
  • Fig. S6. Effective stride length during vertical locomotion.
  • Fig. S7. Electroadhesive pad characteristics.
  • Table S1. Tripedal crawl gait parameter values.
  • Table S2. Cost of transport for HAMR-E.
  • Legends for movies S1 to S7

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Inverted locomotion of HAMR-E.
  • Movie S2 (.mp4 format). Vertical locomotion of HAMR-E.
  • Movie S3 (.mp4 format). Inverted incline locomotion of HAMR-E.
  • Movie S4 (.mp4 format). Role of ankle joint during locomotion with adhesion.
  • Movie S5 (.mp4 format). Demonstration of inverted locomotion inside jet engine part.
  • Movie S6 (.mp4 format). Failure of HAMR-E during inverted locomotion when using a standard tripedal crawl gait.
  • Movie S7 (.mp4 format). Maneuverability of HAMR-E during locomotion with electroadhesion.

Files in this Data Supplement: