4 accepted papers
Gecko-inspired adhesives have the advantage of being able to grasp and release flat surfaces in a vacuum using their microwedge structures. This makes them an especially attractive solution for perching on and grasping flat objects in space for free-flying robots. To grasp and anchor onto these flat…
Gecko-inspired adhesives have several desirable characteristics in robotic grasping: controllable activation and deactivation of adhesion, ability to grasp and release with minimal disturbance, and grasping without the need of form closure. Previously proposed grippers with this technology either re…
This paper discusses robust capture of a free-floating target using a robotic arm. The position error resulting from sensor errors and time delay can cause undesired contact and unstable control. In this paper, we propose a caging-based rigid gripper and impedance control, which enables the robot to…
A rocket-propelled miniature robot is capable to explore sites that planetary rovers cannot reach with efficiency in locomotion distance per mass. The technical difficulty is the significant variance in its flight distance because of two factors: sensitivity of error in the center of gravity with re…