Towards Interaction State Recognition in Sensorized Gecko-Inspired Adhesive Interfaces for Orbital Servicing
Reliable contact establishment remains a critical challenge for autonomous on-orbit servicing (OOS), particularly when interacting with non-cooperative targets. Gecko-inspired dry adhesives provide a lightweight, passive, and residue-free solution for robotic capture in space, yet current systems operate in open loop, without the ability to estimate their own contact or adhesion state during interaction. This paper presents a real-time interaction-awareness framework that enables sensorized gecko-inspired adhesive interfaces to estimate their contact state throughout the adhesion lifecycle using embedded capacitive sensing. Five discrete interaction states (idle, proximity, contact, engag...
| Authors | Eduart Abdullahu, Francesco Grella, Carol Martinez |
|---|---|
| Primary category | cs.RO |
| Published | 19 October 2026 |
| Last updated at source | 19 October 2026 |
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