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

Matthew, Robert Peter; Lund, Havard; Yoshida, Kazuya

doi:10.1109/sii.2010.5708311

Cited by 3 publications

(3 citation statements)

References 13 publications

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“…This compliance also distributes large loads to the many discrete contact points in a balanced manner. Similar biomimetic structures were also developed by Yoshida et al 17 Over the past decade the technology has matured and has been demonstrated on RiSE 18 and several other climbing robots, 16,19 as well as on the landing gear of unmanned air vehicles, 20, 21 and on human climbing paddles. 22 Recently, we showed the application of the technology to natural rock surfaces by extending the technology in three critical ways: 3 1. new configurations of opposing microspines are used that can resist forces in any direction 2. hierarchical compliance is employed to comply to the large-scale roughness and variation of rock surfaces 3. materials and mechanisms that can withstand the extreme environment of space are utilized Using four grippers as anchors, the limbed LEMUR IIB robot 23,24 can safely move and sample from a surface regardless of the gravitational environment.…”

Section: Technology Descriptionmentioning

confidence: 77%

Gravity Independent Climbing Robot: Technology Demonstration and Mission Scenario Development

Parness

Frost

Wiltsie

et al. 2013

AIAA SPACE 2013 Conference and Exposition

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We present the demonstration of robotic free climbing on natural rock using the 10 kg LEMUR IIB robot with application to human-robotic missions to near Earth asteroids, or later, to caves, lava tubes, and cli↵ faces on Mars. The robot grips the rock using a hierarchical implementation of microspines. Microspines use sharp hooks that can move independently within a compliant array to opportunistically grasp roughness on a surface. Each foot has over 250 microspines distributed in 16 carriages. Carriages also move independently to conform to larger, cm-scale roughness. A single gripper can support the entire weight of the robot in any orientation. Sample acquisition was demonstrated with a rotary percussive coring drill that is designed to either be integrated into a foot of the robot or operated by a human in Astronaut gloves. Rock cores of 12 mm diameter and 75 mm length were obtained from volcanic rock samples using both configurations of the drill. The forces and torques of drilling (like weight on bit) are resisted by a microspine anchor, even during hole-start. With its percussive coring drill, this class of robot could be used to acquire scientific samples and set up a network of ropes or cables on an asteroid enabling more e cient and safe manned exploration. Figure 1. An artist concept of a free climbing robot on the surface of a near-Earth asteroid. Such a robot could be used to survey the object and sample from many distinct locations. With a coring drill, like the one shown in this paper, the robot could also be used to set up a network of ropes for safe and e cient human exploration using expansion bolts and harnesses similar to those used by rock climber's here on Earth.

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Section: Technology Descriptionmentioning

confidence: 77%

Gravity Independent Climbing Robot: Technology Demonstration and Mission Scenario Development

Parness

Frost

Wiltsie

et al. 2013

AIAA SPACE 2013 Conference and Exposition

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“…Similar biomimetic structures were also developed in Matthew et al (2010). A single microspine, pictured in Figure 3, can be fabricated in a batch of 50-100 using the shape deposition manufacturing process (SDM).…”

Section: Microspine Gripper Designmentioning

confidence: 99%

“…Microspines were originally developed for vertical climbing robots (Asbeck et al, 2006a(Asbeck et al, , 2006b. Similar biomimetic structures were also developed in Matthew et al (2010). A single microspine, pictured in Figure 3, can be fabricated in a batch of 50-100 using the shape deposition manufacturing process (SDM).…”

Section: Microspine Gripper Designmentioning

confidence: 99%

Gravity‐independent Rock‐climbing Robot and a Sample Acquisition Tool with Microspine Grippers

Parness

Frost

Thatte

et al. 2013

Journal of Field Robotics

102

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A rock-climbing robot is presented that can free climb on vertical, overhanging, and inverted rock faces. This type of system has applications to extreme terrain on Mars or for sustained mobility on microgravity bodies. The robot grips the rock using hierarchical arrays of microspines. Microspines are compliant mechanisms made of sharp hooks and flexible elements that allow the hooks to move independently and opportunistically grasp roughness on the surface of a rock. This paper presents many improvements to early microspine grippers, and the application of these new grippers to a four-limbed robotic system, LEMUR IIB. Each gripper has over 250 microspines distributed in 16 carriages. Carriages also move independently with compliance to conform to larger, cm-scale roughness. Single gripper pull testing on a variety of rock types is presented, and on rough rocks, a single gripper can support the entire mass of the robot (10 kg) in any orientation. Several sensor combinations for the grippers were evaluated using a smaller test-gripper. Rock-climbing mobility experiments are also described for three characteristic gravitational orientations. Finally, a sample acquisition tool that uses one of the robot's grippers to enable rotary percussive drilling is shown. C 2013 Wiley Periodicals, Inc.

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Industrial Robotic Claw for Cottage Industries

Furqan

Rathi

2019

2019 2nd International Conference on Computing, Mathematics and Engineering Technologies (iCoMET)

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

Cited by 3 publications

References 13 publications

Gravity Independent Climbing Robot: Technology Demonstration and Mission Scenario Development

Gravity Independent Climbing Robot: Technology Demonstration and Mission Scenario Development

Gravity‐independent Rock‐climbing Robot and a Sample Acquisition Tool with Microspine Grippers

Industrial Robotic Claw for Cottage Industries

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