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Design and Development of a Gecko-Adhesive Gripper for the Astrobee Free-Flying Robot [article]

A. Cauligi, T. Chen, S. A. Suresh, M. Dille, R. Garcia Ruiz, A. Mora Vargas, M. Pavone, M. Cutkosky
2020 arXiv   pre-print
In this work, we present the design of a gecko-inspired adhesive gripper for performing perching and grasping maneuvers for the Astrobee robot, a free-flying robot currently operating on-board the International  ...  Instead, gecko-inspired adhesives offer many advantages for an alternate grasping and manipulation paradigm for use in assistive free-flyer applications.  ...  The authors wish to thank Andrew Bylard, Jonathan Barlow, Jose Benavides, Maria Bualat, Tyler Dorval, Lorenzo Flückiger, Terry Fong, and Trey Smith for their discussions during the course of this work.  ... 
arXiv:2009.09151v1 fatcat:gghsgtnggvgqjit3cmp3rwbp7e

Design of a novel deployable mechanism for capturing tumbling debris

XueAi Li, Kui Sun, Hong Liu
2019 Transactions of the Canadian Society for Mechanical Engineering  
Grippers composed of constant-torque hinges endow the mechanism with a deployable function and ensure a steady envelope by means of caging, without the need for precise tracking and complex control.  ...  The large number of man-made debris stemming for decades of space exploration threatens the safety of future space activities.  ...  A., Jiang, H., Noll, B., Hawkes, E. W., Pavone, M., and Cutkosky M. R. 2017. Force and moment constraints of a curved surface gripper and wrist for assistive free flyers.  ... 
doi:10.1139/tcsme-2018-0146 fatcat:mw6qq6agrrbktkwjukbcdgzuxq

Annotation Scaffolds for Object Modeling and Manipulation [article]

Pablo Frank-Bolton, Rahul Simha
2018 arXiv   pre-print
We present and evaluate an approach for human-in-the-loop specification of shape reconstruction with annotations for basic robot-object interactions.  ...  Our method is based on the idea of model annotation: the addition of simple cues to an underlying object model to specify shape and delineate a simple task.  ...  was 183, and the number of force-closure grasps was 173, with a force-closure grasp "success" of 94.5%.  ... 
arXiv:1808.06679v1 fatcat:v22exzgwgfbbppiegbz2mtdqme

Robotic Manipulation and Capture in Space: A Survey

Evangelos Papadopoulos, Farhad Aghili, Ou Ma, Roberto Lampariello
2021 Frontiers in Robotics and AI  
manipulator grippers/payloads and targets, and the methods for identifying properties of SMSs and their targets.  ...  Also, it presents recent work of sensing pose and system states, of motion planning for capturing a target, and of feedback control methods for SMS during motion or interaction tasks.  ...  For many robots, force feedback is provided by a force-moment sensor (FMS) installed at a robot’s wrist. On-orbit calibration of SPDM force-moment sensors was studied in Aghili (2000).  ... 
doi:10.3389/frobt.2021.686723 fatcat:tigdb7c2tzhcjp7kxkjntqgdri

Soft Inflatable Robots for Safe Physical Human Interaction

Siddharth Sanan
2018
Robots that can operate in human environments in a safe and robust manner would be of great benefit to society, due to their immense potential for providing assistance to humans.  ...  The safety issue is usually bypassed in the industrial setting by separation of human and robot workspaces. Such a solution is clearly infeasible for robots that provide assistance to humans.  ...  The torus utilizes a force sensor embedded in its surface to sense contact forces between the external object and the gripper.  ... 
doi:10.1184/r1/6722978.v1 fatcat:mpxlnbf6xjfazixsbrgxbjrjgm