TY - GEN
T1 - Bioinspired grippers for natural curved surface perching
AU - Roderick, William R.T.
AU - Jiang, Hao
AU - Wang, Shiquan
AU - Lentink, David
AU - Cutkosky, Mark R.
N1 - Funding Information:
This work is supported by ARL MAST MCE 14.4; W. Roderick is supported by a NSF GRF (DGE-114747).
Publisher Copyright:
© Springer International Publishing AG 2017.
Copyright:
Copyright 2017 Elsevier B.V., All rights reserved.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85026735677&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-63537-8_56
DO - 10.1007/978-3-319-63537-8_56
M3 - Conference contribution
AN - SCOPUS:85026735677
SN - 9783319635361
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 604
EP - 610
BT - Biomimetic and Biohybrid Systems - 6th International Conference, Living Machines 2017, Proceedings
A2 - Lepora, Nathan
A2 - Mangan, Michael
A2 - Prescott, Tony
A2 - Cutkosky, Mark
A2 - Mura, Anna
A2 - Verschure, Paul F.M.J.
PB - Springer Verlag
T2 - 6th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2017
Y2 - 26 July 2017 through 28 July 2017
ER -