A bio-inspired compliant claw for arboreal locomotion in microgravity environments

Robert Matthew, Håvard Lund, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Moving in micro-gravity environments presents a challenge for any robot designed to work on any small object in space, be it a minor planetary body or a manmade spacecraft. A novel solution to this is to use robotic arms to swing around the object's surface allowing the robot to move freely while still being safely anchored. This paper investigates a compliant design for a robotic claw designed to securely grasp an uneven rocky surface which can be used for this method of locomotion. Both materials and hardware design are tested to find out how they affect the grip on flat and curved uneven surfaces. The final design is also evaluated and presented to show its effectiveness in providing a secure grip on rocky surfaces.

Original languageEnglish
Title of host publication2010 IEEE/SICE International Symposium on System Integration
Subtitle of host publicationSI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
Pages114-119
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event3rd International Symposium on System Integration, SII 2010 - Sendai, Japan
Duration: 2010 Dec 212010 Dec 22

Publication series

Name2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings

Other

Other3rd International Symposium on System Integration, SII 2010
CountryJapan
CitySendai
Period10/12/2110/12/22

ASJC Scopus subject areas

  • Control and Systems Engineering

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