Fig. 3: Experimental characterization of the adhesion.
From: Energy efficient perching and takeoff of a miniature rotorcraft
Colors represent different substrates. Circle and diamond symbols refer to dry and wet substrates. a The critical adhesion pressures under different preload pressures. The lines show the average values from three measurements, illustrating the increasing trend. The red stars indicate the maximum preload pressure the robot can generate and the critical adhesion pressure for the ceiling (light blue shading) and wall (green shading) perchings (calculated according to the models). b Adhesive reusability test results. Negative pressure is preload and positive pressure is critical adhesion pressure. c Results from the endurance tests.
