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Assistive free-flying robots are a promising platform for supporting andworking alongside astronauts in carrying out tasks that require interactionwith the environment. However, current free-flying robot platforms are limitedby existing manipulation technologies in being able to grasp and manipulatesurrounding objects. Instead, gecko-inspired adhesives offer many advantagesfor an alternate grasping and manipulation paradigm for use in assistivefree-flyer applications. In this work, we present the design of agecko-inspired adhesive gripper for performing perching and grasping maneuversfor the Astrobee robot, a free-flying robot currently operating on-board theInternational Space Station. We present software and hardware integrationdetails for the gripper units that were launched to the International SpaceStation in 2019 for in-flight experiments with Astrobee. Finally, we presentpreliminary results for on-ground experiments conducted with the gripper andAstrobee on a free-floating spacecraft test bed.

Design and Development of a Gecko-Adhesive Gripper for the Astrobee Free-Flying Robot