The Quadruped Soft Tail: Compliant Grasping and Swabbing for Contamination Surveys in Harsh Environments

Harald Minde Hansen, Nandita Gallacher, Kristin Y. Pettersen, Jan Tommy Gravdahl, Mario di Castro

Beryllium contamination surveys in radioactive areas are challenging for robots in environments cluttered with cables and electronics. To address this problem, we have developed a novel quadruped system augmentation: A lightweight, soft, and compliant tendon-actuated robotic tail mounted on a quadruped robot. The tail features a hollow, flexible backbone and a tendon-actuated soft gripper that enables the robot to pick up sampling tissues, swab contaminated surfaces, and release the tissues at designated collection locations for subsequent beryllium analysis. To enable intuitive teleoperation, a closed-form kinematic model and a singularity-robust task-space controller are developed. Experimental results demonstrate that gripper actuation has a negligible effect on robot shape, while common-mode tendon actuation provides an effective mechanism for stiffness modulation and preload control. Furthermore, experimental validation indicates that the proposed kinematic model provides a suitable basis for real-time task-space control. The proposed system combines the agility of legged locomotion with the compliance of soft robotic manipulation, enabling the complete contamination-survey procedure to be performed without human exposure. While motivated by beryllium contamination surveys at CERN, the proposed quadruped soft-tail concept is broadly applicable to legged robots operating in cluttered, confined, or hazardous environments where conventional rigid-link manipulators are undesirable.