ESC for claws?

Would I need a ESC for a set of claws?

My actuator is running at 24v so I need either a ESC that can run that safely or find an alternative

They both can run unto 24v but I don't know if I would be pushing it

just use a bang bang speed controler and a gws failsafe

Bang bang? Can you explain since I really don't understand what you mean

Also, Ye it does run at 24v yet only draws 6a

You can use 24V relays and a RC switch to open and close the claws.

http://kartikmohta.com/tech/hbridge/basic-bridge.gif
Close high side left en low side right the motor will turn in one direction. open high side left and low side right, and close high side right and low side left the motor will reverse. open all relays and the motor doesn't get power and does nothing. Close all relays and you short your batteries.

With open I mean that no current can pass through it, closed I mean active so current can pass through.

Only 2 relays may be closed at all times, one from the high side, and the opposite from the low side.

You would need and RC-switch that has 3 positions, one middle position where the motor gets no power and no relays are closed, one position for the claw to close (closing 2 relays), and one position for the claw to open (closing the other 2 relays).

I hope this clarifies.