Shooting Manipulation Inspired by Chameleon

In this paper, we propose two chameleon-like shooting manipulation systems for manipulating a distant object in an instant. The proposed systems mechanistically act on a remote target by constraining an end-effector catapulted by an impulsive air flow through a flexible string. One prototype constrains the end-effector by an elastic cantilever through the string, and experimental results show that a prototype realizes a quick capturing of a falling object 0.7 m away with a high success rate of 92%. The other prototype constrains the end-effector by an inertial wheel through the string. We consider a 2-D model of the system and simulate its trajectory. Simulation results show appropriate trajectory and clarify the robustness for the variation of some parameters. Furthermore, experimental results show that the second type of the shooting manipulation system can manipulate a distant target object in a blind spot not only in the case of a vertical blind spot but also in the case of a lateral one.