TY - GEN
T1 - A bio-inspired compliant claw for arboreal locomotion in microgravity environments
AU - Matthew, Robert
AU - Lund, Håvard
AU - Yoshida, Kazuya
PY - 2010/12/1
Y1 - 2010/12/1
N2 - 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.
AB - 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.
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U2 - 10.1109/SII.2010.5708311
DO - 10.1109/SII.2010.5708311
M3 - Conference contribution
AN - SCOPUS:79952813767
SN - 9781424493159
T3 - 2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings
SP - 114
EP - 119
BT - 2010 IEEE/SICE International Symposium on System Integration
T2 - 3rd International Symposium on System Integration, SII 2010
Y2 - 21 December 2010 through 22 December 2010
ER -