ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.1

Godage, Isuru S. (Italian Institute of Tecnology), Branson, David (Istituto Italiano di Tecnologia (IIT)), Guglielmino, Emanuele (Italian Institute of Technology), Medrano-Cerda, Gustavo (Italian Institute of Technology), Caldwell, Darwin G. (Italian Institute of Technology)

Shape Function-Based Kinematics and Dynamics for Variable Length Continuum Robotic Arms

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

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 March 30, 2020

Keywords Biologically-Inspired Robots, Animation and Simulation, Flexible Arms


This paper presents a new three dimensional kinematic and dynamic model for variable length continuum arm robotic structures using a novel shape function-based approach. The model incorporates geometrically constrained structure of the arm to derive its deformation shape function. It is able to simulate spatial bending, pure elongation, and incorporates a new stiffness control feature. The model is validated through numerical simulations, based on a prototype continuum arm, that yields physically accurate results.



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