Abstract
Perching and climbing as animals do is useful to aerial robots for extending mission life and for interacting with the physical world because flight is energetically costly. This paper presents the design and modeling of a claw or spine based gripper for perching on rough, curved surfaces. Drawing inspiration from the opposed grip techniques found in animals, we focus on the design considerations associated with surface geometry and preload. A model elucidates the relationship between these variables, and a mechanism demonstrates the effectiveness of the opposed grip technique.
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Acknowledgments
This work is supported by ARL MAST MCE 14.4; W. Roderick is supported by a NSF GRF (DGE-114747).
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Roderick, W.R.T., Jiang, H., Wang, S., Lentink, D., Cutkosky, M.R. (2017). Bioinspired Grippers for Natural Curved Surface Perching. In: Mangan, M., Cutkosky, M., Mura, A., Verschure, P., Prescott, T., Lepora, N. (eds) Biomimetic and Biohybrid Systems. Living Machines 2017. Lecture Notes in Computer Science(), vol 10384. Springer, Cham. https://doi.org/10.1007/978-3-319-63537-8_56
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DOI: https://doi.org/10.1007/978-3-319-63537-8_56
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