Automated Evaluation of Anisotropic Friction Pads

Developed 3D-printable pads composed of flexible scales designed to generate anisotropic friction for inchworm-like robots need to be evaluated depending on the pad and surface materials. Therefore, we proposed an automated evaluation testbed to measure the static and velocity-dependent dynamic friction of the pads. Results of the developed solution deployed in testing scenarios for three different terrain materials are presented. The experimental results support the presence of frictional anisotropy for the tested surfaces.