{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T05:30:27Z","timestamp":1773293427331,"version":"3.50.1"},"reference-count":38,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T00:00:00Z","timestamp":1688428800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Over the years, efforts in bioinspired soft robotics have led to mobile systems that emulate features of natural animal locomotion. This includes combining mechanisms from multiple organisms to further improve movement. In this work, we seek to improve locomotion in soft, amphibious robots by combining two independent mechanisms: sea star locomotion gait and gecko adhesion. Specifically, we present a sea star-inspired robot with a gecko-inspired adhesive surface that is able to crawl on a variety of surfaces. It is composed of soft and stretchable elastomer and has five limbs that are powered with pneumatic actuation. The gecko-inspired adhesion provides additional grip on wet and dry surfaces, thus enabling the robot to climb on 25\u00b0 slopes and hold on statically to 51\u00b0 slopes.<\/jats:p>","DOI":"10.3389\/frobt.2023.1209202","type":"journal-article","created":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T11:37:32Z","timestamp":1688470652000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Gecko adhesion based sea star crawler robot"],"prefix":"10.3389","volume":"10","author":[{"given":"Sampada","family":"Acharya","sequence":"first","affiliation":[]},{"given":"Peter","family":"Roberts","sequence":"additional","affiliation":[]},{"given":"Tejas","family":"Rane","sequence":"additional","affiliation":[]},{"given":"Raghav","family":"Singhal","sequence":"additional","affiliation":[]},{"given":"Peize","family":"Hong","sequence":"additional","affiliation":[]},{"given":"Viraj","family":"Ranade","sequence":"additional","affiliation":[]},{"given":"Carmel","family":"Majidi","sequence":"additional","affiliation":[]},{"given":"Victoria","family":"Webster-Wood","sequence":"additional","affiliation":[]},{"given":"B.","family":"Reeja-Jayan","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2023,7,4]]},"reference":[{"key":"B1","first-page":"3058","article-title":"Gecko inspired micro-fibrillar adhesives for wall climbing robots on micro\/nanoscale rough surfaces","author":"Aksak","year":"2008"},{"key":"B2","first-page":"1","article-title":"Poseidrone: Design of a soft-bodied rov with crawling, swimming and manipulation ability","author":"Arienti","year":"2013"},{"key":"B3","doi-asserted-by":"publisher","first-page":"1575","DOI":"10.1098\/rsta.2007.2173","article-title":"Gecko adhesion: Evolutionary nanotechnology","volume":"366","author":"Autumn","year":"2008","journal-title":"Philosophical Trans. R. Soc. Lond."},{"key":"B4","doi-asserted-by":"publisher","first-page":"2222","DOI":"10.1109\/lra.2018.2810949","article-title":"Echinoderm-inspired tube feet for robust robot locomotion and adhesion","volume":"3","author":"Bell","year":"2018","journal-title":"IEEE robotics automation Lett."},{"key":"B5","first-page":"31","article-title":"Design, fabrication and control of a multi-material-multi-actuator soft robot inspired by burrowing worms","author":"Calderon","year":"2016"},{"key":"B6","volume-title":"Design and development of a gecko-adhesive gripper for the astrobee free-flying robot","author":"Cauligi","year":"2020"},{"key":"B7","first-page":"337","article-title":"Evolutionary discovery of self-stabilized dynamic gaits for a soft underwater legged robot","author":"Corucci","year":"2015"},{"key":"B8","doi-asserted-by":"publisher","first-page":"8790","DOI":"10.1038\/ncomms9790","article-title":"Suction-based propulsion as a basis for efficient animal swimming","volume":"6","author":"Gemmell","year":"2015","journal-title":"Nat. Commun."},{"key":"B9","doi-asserted-by":"publisher","first-page":"025007","DOI":"10.1088\/1748-3190\/aa5ccc","article-title":"Hybrid parameter identification of a multi-modal underwater soft robot","volume":"12","author":"Giorgio-Serchi","year":"2017","journal-title":"Bioinspiration biomimetics"},{"key":"B10","doi-asserted-by":"publisher","first-page":"903","DOI":"10.1109\/lra.2018.2792688","article-title":"A soft robotic gripper with gecko-inspired adhesive","volume":"3","author":"Glick","year":"2018","journal-title":"IEEE robotics automation Lett."},{"key":"B11","doi-asserted-by":"publisher","first-page":"20190700","DOI":"10.1098\/rsif.2019.0700","article-title":"Sea star inspired crawling and bouncing","volume":"17","author":"Heydari","year":"2020","journal-title":"J. R. Soc. interface"},{"key":"B12","first-page":"11884","article-title":"Numerical simulation of an untethered omni-directional star-shaped swimming robot","author":"Huang","year":"2021"},{"key":"B13","doi-asserted-by":"publisher","first-page":"2200163","DOI":"10.1002\/aisy.202200163","article-title":"Design and closed-loop motion planning of an untethered swimming soft robot using 2d discrete elastic rods simulations","volume":"4","author":"Huang","year":"2022","journal-title":"Adv. Intell. Syst."},{"key":"B14","doi-asserted-by":"publisher","first-page":"1704696","DOI":"10.1002\/adma.201704696","article-title":"Combined effect of the microstructure and underlying surface curvature on the performance of biomimetic adhesives","volume":"30","author":"Kizilkan","year":"2018","journal-title":"Adv. Mater."},{"key":"B15","doi-asserted-by":"publisher","first-page":"39745","DOI":"10.1021\/acsami.0c08686","article-title":"Switchable adhesion for nonflat surfaces mimicking geckos\u2019 adhesive structures and toe muscles","volume":"12","author":"Li","year":"2020","journal-title":"ACS Appl. Mater. interfaces"},{"key":"B16","doi-asserted-by":"publisher","first-page":"1246","DOI":"10.1002\/adfm.201101783","article-title":"Gecko-inspired controllable adhesive structures applied to micromanipulation","volume":"22","author":"Meng\u00fc\u00e7","year":"2012","journal-title":"Adv. Funct. Mater."},{"key":"B17","first-page":"431","article-title":"Gecko inspired surface climbing robots","author":"Menon","year":"2004"},{"key":"B18","doi-asserted-by":"publisher","first-page":"8607","DOI":"10.3390\/app10238607","article-title":"Jumping locomotion strategies: From animals to bioinspired robots","volume":"10","author":"Mo","year":"2020","journal-title":"Appl. Sci."},{"key":"B19","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2021\/5542920","article-title":"Review on unmanned underwater robotics, structure designs, materials, sensors, actuators, and navigation control","volume":"2021","author":"Neira","year":"2021","journal-title":"J. robotics"},{"key":"B20","doi-asserted-by":"publisher","first-page":"1223","DOI":"10.1098\/rsif.2009.0048","article-title":"A microfabricated wedge-shaped adhesive array displaying gecko-like dynamic adhesion, directionality and long lifetime","volume":"6","author":"Parness","year":"2009","journal-title":"J. R. Soc. Interface"},{"key":"B21","first-page":"8758","article-title":"An untethered brittle star-inspired soft robot for closed-loop underwater locomotion","author":"Patterson","year":"2020"},{"key":"B22","first-page":"1007","article-title":"The sea stars (echinodermata: Asteroidea): Their biology, ecology, evolution and utilization","volume":"1","author":"Rahman","year":"2018","journal-title":"SF J. Biotechnol. Biomed. Eng."},{"key":"B23","doi-asserted-by":"publisher","first-page":"035038","DOI":"10.1088\/1361-665x\/ab6fe8","article-title":"Basic design of a biomimetic underwater soft robot with switchable swimming modes and programmable artificial muscles","volume":"29","author":"Shen","year":"2020","journal-title":"Smart Mater. Struct."},{"key":"B24","doi-asserted-by":"publisher","first-page":"20180551","DOI":"10.1098\/rsif.2018.0551","article-title":"Understanding the influence of silicone elastomer properties on wedge-shaped microstructured dry adhesives loaded in shear","volume":"15","author":"Simaite","year":"2018","journal-title":"J. R. Soc. Interface"},{"key":"B25","doi-asserted-by":"publisher","first-page":"503","DOI":"10.1016\/s0040-8166(72)80026-0","article-title":"Histology and ultrastructure of the tube foot epithelium in the phanerozonian starfish, astropecten","volume":"4","author":"Sngster","year":"1972","journal-title":"Tissue Cell"},{"key":"B26","doi-asserted-by":"publisher","first-page":"1921","DOI":"10.1080\/01694243.2013.766533","article-title":"Enhanced fabrication and characterization of gecko-inspired mushroom-tipped microfiber adhesives","volume":"27","author":"Song","year":"2013","journal-title":"J. adhesion Sci. Technol."},{"key":"B27","doi-asserted-by":"publisher","first-page":"E4344","DOI":"10.1073\/pnas.1620344114","article-title":"Controllable load sharing for soft adhesive interfaces on three-dimensional surfaces","volume":"114","author":"Song","year":"2017","journal-title":"Proc. Natl. Acad. Sci."},{"key":"B28","doi-asserted-by":"publisher","first-page":"4901","DOI":"10.1002\/adma.201400630","article-title":"Soft grippers using micro-fibrillar adhesives for transfer printing","volume":"26","author":"Song","year":"2014","journal-title":"Adv. Mater. Weinh."},{"key":"B29","doi-asserted-by":"publisher","first-page":"688697","DOI":"10.3389\/frobt.2021.688697","article-title":"Underwater crawling robot with hydraulic soft actuators","volume":"8","author":"Tan","year":"2021","journal-title":"Front. robotics AI"},{"key":"B30","doi-asserted-by":"publisher","first-page":"5599","DOI":"10.1039\/d0sm00787k","article-title":"An electrically active gecko-effect soft gripper under a low voltage by mimicking gecko\u2019s adhesive structures and toe muscles","volume":"16","author":"Tian","year":"2020","journal-title":"Soft Matter"},{"key":"B31","doi-asserted-by":"publisher","first-page":"19320","DOI":"10.1073\/pnas.0608841103","article-title":"Adhesion and friction in gecko toe attachment and detachment","volume":"103","author":"Tian","year":"2006","journal-title":"Proc. Natl. Acad. Sci. - PNAS"},{"key":"B32","doi-asserted-by":"publisher","first-page":"7160","DOI":"10.3390\/app10207160","article-title":"Soft underwater robot actuated by shape-memory alloys jellyrobcib for path tracking through fuzzy visual control","volume":"10","author":"Ulloa","year":"2020","journal-title":"Appl. Sci."},{"key":"B33","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1177\/1475090220950911","article-title":"For safe and compliant interaction: An outlook of soft underwater manipulators","volume":"235","author":"Wang","year":"2021","journal-title":"Proc. Institution Mech. Eng."},{"key":"B34","volume-title":"Bioinspired sensing, actuation, and control in underwater soft robotic systems","author":"Wereley","year":"2021"},{"key":"B35","doi-asserted-by":"publisher","first-page":"046007","DOI":"10.1088\/1748-3190\/abf6b9","article-title":"A novel underwater bipedal walking soft robot bio-inspired by the coconut octopus","volume":"16","author":"Wu","year":"2021","journal-title":"Bioinspiration biomimetics"},{"key":"B36","doi-asserted-by":"publisher","first-page":"5348","DOI":"10.1109\/lra.2021.3074001","article-title":"Corrections to starfish inspired milli soft robot with omnidirectional adaptive locomotion ability","volume":"6","author":"Yang","year":"2021","journal-title":"IEEE robotics automation Lett."},{"key":"B37","doi-asserted-by":"publisher","first-page":"110","DOI":"10.3390\/mi13010110","article-title":"Underwater soft robotics: A review of bioinspiration in design, actuation, modeling, and control","volume":"13","author":"Youssef","year":"2022","journal-title":"Micromachines (Basel)"},{"key":"B38","doi-asserted-by":"publisher","first-page":"2702","DOI":"10.1557\/jmr.2015.242","article-title":"Work of adhesion\/separation between soft elastomers of different mixing ratios","volume":"30","author":"Yu","year":"2015","journal-title":"J. Mater. Res."}],"container-title":["Frontiers in Robotics and AI"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2023.1209202\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T11:37:37Z","timestamp":1688470657000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/frobt.2023.1209202\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7,4]]},"references-count":38,"alternative-id":["10.3389\/frobt.2023.1209202"],"URL":"https:\/\/doi.org\/10.3389\/frobt.2023.1209202","relation":{},"ISSN":["2296-9144"],"issn-type":[{"value":"2296-9144","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,7,4]]},"article-number":"1209202"}}