California Institute of Technology

Matthew A Frost

Aaron Parness

Kalind C Carpenter

Brett A Kennedy

Charles F Bergh

James W Borders

John M Leichty

Allen R Sirota

Nitish Thatte

Michael J Hagman

Jonathan P King

Jamie S Piacentine

Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

Robotics platforms incorporating manipulators having common joint designs

Systems and methods for gravity independent gripping and drilling are described. The gripping device can also comprise a drill or sampling devices for drilling and/or sampling in microgravity environments, or on vertical or inverted surfaces in environments where gravity is present. A robotic system can be connected with the gripping and drilling devices via an ankle interface adapted to distribute the forces realized from the robotic system.

Systems and methods for gravity-independent gripping and drilling

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Pasadena, CA, United States of America

Matthew A Frost