Abstract
In this letter, we present a passive spine gripper that can hold rough rocky surfaces of boulders on cliff walls, and we discuss its application to a four-limbed robot for free-climbing in extreme terrain. The limbed robot has four degrees of freedom in each limb, where three are to drive joints of the limb and one for releasing the gripper. The fine spine of the proposed gripper also enables it to passively and adaptively latch on to microscopic asperities of the rough surface, and it is thus an efficient mechanism. In this letter, we present the fundamental design and mechanism of the proposed gripper, after which we introduce its static gripping model. We verify the gripping model by the experimental gripping performance of the prototype gripper. We show a lightweight four-limbed robot that is equipped with the grippers mounted on each limb. To evaluate the climbing capabilities of the robot, we use it to perform climbing experiments on a rugged and steep slope. The results show that the prototype can safely climb over such challenging terrain that is similar to a gravity offload system.
Original language | English |
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Pages (from-to) | 1765-1770 |
Number of pages | 6 |
Journal | IEEE Robotics and Automation Letters |
Volume | 3 |
Issue number | 3 |
DOIs | |
Publication status | Published - 2018 Jul |
Keywords
- Space robotics and automation
- climbing robots
- grippers and other end-effectors
ASJC Scopus subject areas
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence