One of the challenges in non-cooperative target capture is a reliable grasping technique for targets that do not have a dedicated grasping mechanism. Our research group has been investigating a noncooperative target capture mechanism that can enclose or wrap around the entire target. In this presentation, we will introduce our research on debris capture mechanisms, focusing on a deployable capture mechanism with high storage efficiency using a wire link mechanism based on push-puppet technology, and a modular articulated arm mechanism that can adaptively wrap and grasp a target along its surface shape, mimicking the contact bending property of plants.
NAKANISHI et al. (Thu,) studied this question.