A two dimensional inverse kinetics model of a cable driven manipulator inspired by the octopus arm

Giorelli, Michele, Renda, Federico, Calisti, Marcello , Arienti, Andrea, Ferri, Gabriele and Laschi, Cecilia (2012) A two dimensional inverse kinetics model of a cable driven manipulator inspired by the octopus arm. In: IEEE International Conference on Robotics and Automation, 2012.

Full content URL: https://doi.org/10.1109/ICRA.2012.6225254

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive

Abstract

Control of soft robots remains nowadays a big challenge, as it does in the larger category of continuum robots. In this paper a direct and inverse kinetics models are described for a non-constant curvature structure. A major effort has been put recently in modelling and controlling constant curvature structures, such as cylindrical shaped manipulators. Manipulators with non-constant curvature, on the other hand, have been treated with a piecewise constant curvature approximation. In this work a non-constant curvature manipulator with a conical shape is built, taking inspiration from the anatomy of the octopus arm. The choice of a conical shape manipulator made of soft material is justified by its enhanced capability in grasping objects of different sizes. A different approach from the piecewise constant curvature approximation is employed for direct and inverse kinematics model. A continuum geometrically exact approach for direct kinetics model and a Jacobian method for inverse case are proposed. They are validated experimentally with a prototype soft robot arm moving in water. Results show a desired tip position in the task-space can be achieved automatically with a satisfactory degree of accuracy.

Divisions:College of Science > Lincoln Institute for Agri-Food Technology
ID Code:46200
Deposited On:24 Aug 2021 14:56

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