A Walking Claw for Tethered Object Retrieval

Author:

Gong Yifeng1,Behr Alexander M.2,Graf Nicole M.1,Chen Kaiyi3,Gong Zhili1,Daltorio Kathryn A.1

Affiliation:

1. Case Western Reserve University Department of Mechanical Engineering, , Cleveland, OH 44106

2. Case Western Reserve University Department of Computer and Data Sciences, , Cleveland, OH 44106

3. Case Western Reserve University Department of Electric Engineering, , Cleveland, OH 44106

Abstract

Abstract Mobility and manipulation are often considered separately, with independent degrees-of-freedom (DOF) for each. However, here we show that using the legs for both walking and grasping increases the versatility of both tasks. Our robot has four DOF: drive and lift for left and right pairs of legs. The legs use a reduced actuation Klann mechanism. The lift DOF rotates the entire trajectory of the legs, which enables gait modulation, climbing, and grasping. This demonstrates the feasibility of a novel operational concept: a robot that can approach, climb onto, and securely grasp an object that can then be lifted via a load-bearing tether. Specifically, we show the kinematics to enable small robots to climb onto rectangular objects up to 67% robot height and grasp objects between 43% and 72% of the robot’s length. With these kinematics, a robot can be scaled for specific terrains and object sizes, with potential application in construction, search and rescue, and object retrieval.

Funder

Office of Naval Research

U.S. Department of Defense

Publisher

ASME International

Subject

Mechanical Engineering

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