Abstract:This paper presents a multi-legged rock-climbing robot for surface exploration of rugged, steep terrains, such as a cliff wall. For a robot hand toward robotic rock-climbing, passive grippers with sharp spines at the tips of their fingers have been developed. The grippers need to be locally-adaptable to micro-scale roughness of the uncertain terrain and to exert sufficient grasping forces for climbing. In this paper, we propose two grasping force compensation functions for the gripper, tracing grip and toleran… Show more
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