Modeling of attraction force generated by interdigital electrodes for electroadhesive robots

A new direct method for calculating the electrostatic force of electroadhesive robots generated by interdigital electrodes is presented. Here, series expansion is employed to express the spatial potential, and point matching method is used in dealing with some boundary conditions. The attraction force is calculated using the Maxwell stress tensor formula. The accuracy of this method is verified through comparing our results with that of simulation work as well as reported experimental data, the agreement is found to be very good.