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Demonstrations of gravity-independent mobility and drilling on natural rock using microspines

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dc.contributor.author Parness, Aaron
dc.contributor.author Frost, Matthew
dc.contributor.author King, Jonathan P.
dc.contributor.author Thatte, Nitish
dc.date.accessioned 2013-02-25T21:21:17Z
dc.date.available 2013-02-25T21:21:17Z
dc.date.issued 2012-05-07
dc.identifier.citation IEEE International Conference on Robotics and Automation (ICRA), St. Paul, Minnesota, May 14-18, 2012 en_US
dc.identifier.clearanceno 12-0915
dc.identifier.uri http://hdl.handle.net/2014/42768
dc.description.abstract The video presents microspine-based anchors be- ing developed for gripping rocks on the surfaces of comets and asteroids, or for use on cliff faces and lava tubes on Mars. Two types of anchor prototypes are shown on supporting forces in all directions away from the rock; >160 N tangent, >150 N at 45◦, and >180 N normal to the surface of the rock. A compliant robotic ankle with two active degrees of freedom interfaces these anchors to the Lemur IIB robot for future climbing trials. Finally, a rotary percussive drill is shown coring into rock regardless of gravitational orientation. As a harder- than-zero-g proof of concept, inverted drilling was performed creating 20mm diameter boreholes 83 mm deep in vesicular basalt samples while retaining 12 mm diameter rock cores in 3-6 pieces. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2012. en_US
dc.subject climbing mechanisms en_US
dc.subject climbing robots en_US
dc.subject microspine anchors en_US
dc.title Demonstrations of gravity-independent mobility and drilling on natural rock using microspines en_US
dc.type Preprint en_US


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