Guo, JianglongKuhnel, DjenQi, QiukaiXiang, ChaoqunVan Anh HoFaul, CharlRossiter, Jonathan2023-03-272023-03-272023-03-272022-01-0110.1109/IROS47612.2022.9981267https://infoscience.epfl.ch/handle/20.500.14299/196526WOS:000908368204118Electroadhesion is a versatile and controllable adhesion mechanism that has been used extensively in robotics. Soft electroadhesion embodies electrostatic adhesion in soft materials and is required for shape-adaptive and safe grasping of curved objects and delicate materials. In this work, we present a soft electroadhesive fabrication method based on laser scribing graphene oxide on a silicone film, which is cost-effective, facile and green. The method can be used to generate complex electroadhesive patterns without molds or stencils. We then present a 2D finite element model to demonstrate the shape-changing behavior and electric field distributions of a dual-mode parallel dielectric elastomer actuation and coplanar electroadhesion structure. The soft electroadhesive fabrication method based on laser-scribed graphene oxide electrodes and its experimental characterization results, together with its shape-morphing simulation model are expected to enable the wider adoption of soft electroadhesion in future robotics.Automation & Control SystemsComputer Science, Artificial IntelligenceEngineering, Electrical & ElectronicRoboticsComputer ScienceEngineeringsoft electroadhesionlaser scribinggraphene oxideshape morphingperformancetext::conference output::conference proceedings::conference paper