ICRA 2011 Paper Abstract

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Paper WeP107.2

Zheng, Tianjiang (Italian Institute of Technology), Branson, David (Istituto Italiano di Tecnologia (IIT)), Guglielmino, Emanuele (Italian Institute of Technology), Caldwell, Darwin G. (Italian Institute of Technology)

A 3D Dynamic Model for Continuum Robots Inspired by Octopus Arm

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots VI" (WeP107), Wednesday, May 11, 2011, 13:55−14:10, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Flexible Arms, Biologically-Inspired Robots, Marine Robotics

Abstract

Continuum robotic arms are based on non-rigid components that result in a nearly infinite number of degrees of freedom (DOF). Due to this reason, it can be very complex to establish mathematical models for continuum robotic arms. This paper presents a 3D dynamic model of an arm based on octopus arm anatomy that utilizes 4 longitudinal and 4 radial muscles. The arm is composed of a multi-segment structure having distributed stiffness and damping to represent the muscles. The simulations are applied to a multi-segment arm, and results mimic several typical octopus arm motions.

 

 

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