{"ID":22952667,"CreatedAt":"2026-09-17T02:12:05.498442134Z","UpdatedAt":"2026-09-20T18:11:56.143995915Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2609.18700","arxiv_id":"2609.18700","title":"Toward 3D Printable Non-Planar Electroadhesive Structures for Active Anchoring","abstract":"This paper investigates multi-material 3D printing as a method to fabricate non-planar structures with 3D-printed electrode patterns for electroadhesion. We printed flat electroadhesion pads as a planar benchmark and cylindrical pads as a non-planar demonstration, with conductive interdigitated electrodes 3D printed as part of the structure. Normal-force measurements showed voltage-controlled modulation in both geometries. At 3 kV, the flat pads generated approximately 0.11-0.13 N, while the cylindrical pads reached approximately 0.16 N at 5 N preload. These results demonstrate a step toward printed parts with built-in, electrically controlled adhesion and friction, beyond conventional planar electroadhesion pads.","short_abstract":"This paper investigates multi-material 3D printing as a method to fabricate non-planar structures with 3D-printed electrode patterns for electroadhesion. We printed flat electroadhesion pads as a planar benchmark and cylindrical pads as a non-planar demonstration, with conductive interdigitated electrodes 3D printed as...","url_abs":"https://arxiv.org/abs/2609.18700","url_pdf":"https://arxiv.org/pdf/2609.18700v1","authors":"[\"Mostafa A. Atalla\",\"Carol R. Derla\",\"Pep Canyelles Pericàs\",\"Gijs Krijnen\"]","published":"2026-09-16T14:10:30Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}