Research project · In progress

Dexterous Grasping via Insect Wet Adhesion

In progress

Independent research

Overview

Can insect footpad adhesion and leg trajectories guide fingertip contact and release in a robotic hand?

Insect leg trajectories used to study contact and release strategies.

My Work

Research direction

Study wet-adhesion mechanisms and insect leg trajectories to inform bioinspired fingertip structures and grasping motions.

Planned integration

The presentation proposes integrating adhesive fingertips and insect-inspired motion with the ORCA platform, followed by gait planning and feedback-based coordination.

Insect motion and contact sequence

Leg trajectories and contact observations guide the ongoing study of attachment and release motions.

**Fig. 1.** Motion-tracking frames and the associated trajectory plot.Presentation PDF · page 23

**Fig. 2.** Trajectory curves used to study the motion sequence.Presentation PDF · page 23

Bioinspired fingertip concept

The biological foot structure motivates the proposed fingertip mechanism.

**Fig. 3.** Insect foot contact shown in the presentation.Presentation PDF · page 23

**Fig. 4.** Kinematic representation of the leg and foot mechanism.Presentation PDF · page 23

Integration plan

The proposed workflow combines adhesive-fingertip design with motion control. Integration and coordinated-grasping validation remain ongoing work.

**Fig. 5.** Research workflow for adhesive fingertips and dexterous-grasping integration.Presentation PDF · page 23

Current Status

Ongoing research direction. The ORCA reproduction is complete; adhesive-fingertip integration and coordinated grasping validation remain planned work.