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However, most adhesion methods either require a large energy supply system or are limited by the properties of the contact plane. For example, electromagnetic adhesion requires a ferromagnetic surface and pneumatic adhesion requires a flat surface. Furthermore, nearly all existing approaches are only used to generate adhesion forces and often require additional mechanisms to remove the adhesive component from the surface. In this study, we aimed to develop a simpler method of adhering to a surface while simultaneously moving in directions parallel to the surface, using multiple vibration sources to generate normal adhesion and propulsion. To test our approach, we constructed circular and elliptical models and conducted experiments with various inputs and model parameters. Our results show that such a gas-lubricated adhesive disk could achieve adhesive rotation and displacement in the plane without requiring any auxiliary operating system. Using only vibration sources, we were able to generate the necessary adhesion and propulsion forces to achieve the desired motion of the robot. This work represents a step towards the construction of a small-sized tetherless robot that can overcome gravity and move freely in a general environment.<\/jats:p>","DOI":"10.3389\/frobt.2023.1231976","type":"journal-article","created":{"date-parts":[[2023,10,30]],"date-time":"2023-10-30T10:37:30Z","timestamp":1698662250000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":6,"title":["Controlling the motion of gas-lubricated adhesive disks using multiple vibration sources"],"prefix":"10.3389","volume":"10","author":[{"given":"Chengzhe","family":"Jia","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sankaran","family":"Ramanarayanan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antonio L.","family":"Sanchez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael T.","family":"Tolley","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2023,10,30]]},"reference":[{"key":"B1","volume-title":"Fundamentals of aerodynamics","author":"Anderson","year":"2016"},{"key":"B2","first-page":"220","article-title":"A survey on pneumatic wall-climbing robots for inspection","author":"Brusell","year":"2016"},{"key":"B3","first-page":"965","article-title":"Apparatus and method for orthosonic lift by deflection","volume":"8","author":"Colasante","year":"2015","journal-title":"U. 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