Experimental evaluation of gripping characteristics based on frictional theory for ground grip locomotive robot on an asteroid

Yudai Yuguchi, Warley F.R. Ribeiro, Kenji Nagaoka, Kazuya Yoshida

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)

Abstract

Owing to the irregular terrain and microgravity environment of an asteroid, an appropriate locomotion mechanism is required for exploring the asteroid by a robot. In this paper, a ground grip locomotive robot is proposed. One of the most important requirements of the robot is the development of the finger gripping mechanism that can be attached on an uneven surface. To meet this requirement, grip condition and friction characteristics between the finger and the surface need to be understood. Therefore, we conducted an experimental evaluation of gripping characteristics by measuring the coefficients of friction between several types of fingers and simulated grounds. Moreover, the range of possible gripping angles for simulated ground was determined by conditional equations and confirmed by an experiment of gripping the ground using an air-floating system. In this paper, conical shape is shown to be effective for ground grip locomotive robot.

Original languageEnglish
Article number7139583
Pages (from-to)2822-2827
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2015-June
Issue numberJune
DOIs
Publication statusPublished - 2015 Jun 29
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 2015 May 262015 May 30

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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