2019
Load-Sharing in Soft and Spiny Paws for a Large Climbing Robot
RA-L 2019
A novel end-effector is presented for a large climbing robot. The gripping surfaces are covered with sharp spines to achieve a high shear stress on rocky surfaces. Soft, flexure-based joints and the natural compliance of a particle-jamming pad in the palm allow the end-effector to conform to a varie