Teleoperation of a Compliant Avian-Inspired Robotic Claw with Continuum Digits

This paper explores the development of a bio-inspired, large-scale compliant CLAW with continuum digits designed for grasping of delicate objects via human teleoperation. Drawing inspiration from avian perching behaviors, the proposed CLAW utilizes minimal sensing, with input provided through a flexible glove equipped with a single bending sensor, while its shape is controlled via an inertial measurement unit mounted on one of its continuum digits. Unlike previous bird-inspired grippers focused on small-scale perching applications, our approach targets the grasping of delicate objects, addressing challenges associated with the compliance and shape-sensing of soft robotic components. The experiments demonstrate the CLAW’s ability to effectively grasp a variety of objects, as well as proof-of-concept results on "rescuing" objects from a confined environment, showcasing the potential of continuum robots for adaptive manipulation with minimal sensor input. These preliminary results underscore the potential of the proposed continuum-based grippers for applications involving human teleoperators in human-robot collaborative tasks.