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Assistive free-flying robots are a promising platform for supporting and working alongside astronauts in carrying out tasks that require interaction with the environment. However, current free-flying robot platforms are limited by existing manipulation technologies in being able to grasp and manipulate surrounding objects. Instead, gecko-inspired adhesives offer many advantages for an alternate grasping and manipulation paradigm for use in assistive free-flyer applications. 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 Space Station. We present software and hardware integration details for the gripper units that were launched to the International Space Station in 2019 for in-flight experiments with Astrobee. Finally, we present preliminary results for on-ground experiments conducted with the gripper and Astrobee on a free-floating spacecraft test bed.
Monitoring the state of contact is essential for robotic devices, especially grippers that implement gecko-inspired adhesives where intimate contact is crucial for a firm attachment. However, due to the lack of deformable sensors, few have demonstrat
Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying humanoid ro
Over the past few decades, efforts have been made towards robust robotic grasping, and therefore dexterous manipulation. The soft gripper has shown their potential in robust grasping due to their inherent properties-low, control complexity, and high
In this paper, we present a novel passive single Degree-of-Freedom (DoF) manipulator design and its integration on an autonomous drone to capture a moving target. The end-effector is designed to be passive, to disengage the moving target from a flyin
Regular irradiation of indoor environments with ultraviolet C (UVC) light has become a regular task for many indoor settings as a result of COVID-19, but current robotic systems attempting to automate it suffer from high costs and inefficient irradia