Electroadhesion (EA) provides electrically switchable adhesion and is a promising mechanism for perching micro aerial robots on smooth surfaces. However, practical implementations of soft and stretchable EA pads for aerial perching remain limited. This work presents (i) an efficient workflow for fabricating soft, stretchable electroadhesive pads with sinusoidal wave and concentric-circle electrodes in multiple sizes, (ii) a controlled experimental comparison of normal and shear adhesion under inactive (0 kV) and active (4.8 kV) conditions using an Instron-based setup, and (iii) a perching demonstration using a Crazyflie quadrotor equipped with electroadhesive feet on flat and curved substrates. Experimental results show that shear adhesion dominates, reaching forces on the order of 3 N with partial pad contact, while normal adhesion is comparatively small and strongly dependent on substrate properties. The Crazyflie prototype demonstrates repeatable attachment on smooth plastic surfaces, including curved geometries, as well as rapid detachment when the voltage is removed. These results highlight the potential of soft electroadhesive feet for lightweight and reliable perching in micro aerial vehicles (MAVs).

翻译：电吸附（EA）提供电控可切换的吸附力，是微型飞行器在光滑表面栖息的理想机制。然而，软质可拉伸的EA垫在飞行栖息中的实际应用仍十分有限。本文提出：（i）一种高效制备多尺寸正弦波及同心圆电极软质可拉伸电吸附垫的工作流程；（ii）基于Instron测试平台，在非激活（0 kV）与激活（4.8 kV）条件下对法向与剪切吸附力的受控实验对比；（iii）搭载电吸附足的Crazyflie四旋翼飞行器在平面与曲面基底上的栖息演示。实验结果表明剪切吸附占主导地位，在部分垫接触时可达约3 N的力，而法向吸附力相对较小且强烈依赖于基底特性。Crazyflie原型机在光滑塑料表面（包括曲面几何结构）上展现了可重复的附着能力，并在电压移除时快速脱离。这些结果凸显了软体电吸附足在微型飞行器（MAV）中实现轻量化、可靠栖息的潜力。