Abstract: A capture system adapted to capture a target space object, including a plurality of articulated arms configured to be deployable from a stowed configuration to a deployed configuration to perform capture of the target space object. Each articulated arm includes a plurality of articulated arm segments including a first articulated arm segment coupled at a proximal end to a spacecraft or to a platform deployable from the spacecraft via a first pivoting joint and at least a second articulated arm segment coupled at a proximal end to a distal end of the first articulated arm segment via a second pivoting joint. In one aspect of the capture system, the plurality of articulated arm segments are nestable one within the other, in the stowed configuration, such that the first and second articulated arm segments are intertwined.