Design and implementation of a multi-section continuum robot: Air-Octor

McMahan, William; Jones, Bryan A.; Walker, Ian D.

doi:10.1109/iros.2005.1545487

Cited by 210 publications

(128 citation statements)

References 16 publications

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“…This led to the invention of sufficiently soft, high-stiffness actuators. In recent years there has been a substantial increase in designing, modelling, and constructing (biologically-based) continuum robots that provide new robotic behaviours, and offer an infinite number of robot applications [4,5]. The pneumatic muscle actuator (PMA), which is the base of such types of robots, has numerous positives over ordinary pneumatic cylinders, such as the high force in comparison to its weight, low workspace requirement, high flexibility to construct [6,7], adaptable installation possibilities, minimum consumption of compressed air, accessibility of different measurements, low cost, and being safe for human use [6,8].…”

Section: Introductionmentioning

confidence: 99%

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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Abstract:To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

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Section: Introductionmentioning

confidence: 99%

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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“…Using a Lagrangian approach Tatlicioglu, Walker, and Dawson [12] develop a dynamic model for and provide simulations of a planar extensible continuum manipulator. Braganza, Dawson, Walker, and Nath [13] develop a neural network controller for continuum robots such as OctArm [14] based on a dynamic model.…”

Section: ) Dynamics and Control For Continuum Robotsmentioning

confidence: 99%

Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator

Marchese

Tedrake

Rus

2015

The International Journal of Robotics Research

171

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Abstract-The goal of this work is to develop a soft robotic manipulation system that is capable of autonomous, dynamic, and safe interactions with humans and its environment. First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. Then, we present a strategy for independently identifying all unknown components of the system: the soft manipulator, its distributed fluidic elastomer actuators, as well as drive cylinders that supply fluid energy. Next, using this model and trajectory optimization techniques we find locally optimal open-loop policies that allow the system to perform dynamic maneuvers we call grabs. In 37 experimental trials with a physical prototype, we successfully perform a grab 92% of the time. By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines.

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“…From these parameters the tip location of a single continuum section is calculated [22]. These assumptions reflect the physical structure of many continuum manipulators when subjected to a constant moment applied to the end of the section as derived in [23] and applied in [5,[24][25][26] including AirOctor [27] and the OctArm [21] series of manipulators. In particular, the ability of these trunks to not only move to a given curvature κ and direction of curvature φ but also to extend to a trunk length s enables them to attain the desired tip position based on the φ, κ , and s determined by the inverse kinematics.…”

Section: Single-section Kinematicsmentioning

confidence: 99%

A geometrical approach to inverse kinematics for continuum manipulators

Neppalli

Csencsits

Jones

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We present a new geometrical approach to solving inverse kinematics for continuous backbone (continuum) robot manipulators. First, this paper presents a solution to the inverse kinematics problem for a single-section trunk. Assuming end-points for all sections of a multi-section trunk are known, this paper then details applying single-section inverse kinematics to each section of the multi-section trunk by compensating for resulting changes in orientation. Finally, an approach which computes per-section end-points given only a finalsection endpoint provides a complete solution to the multisection inverse kinematics problem. The results of implementing these algorithms in simulation and on a physical continuum robot are presented and possible applications are discussed.

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Design and implementation of a multi-section continuum robot: Air-Octor

Cited by 210 publications

References 16 publications

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator

A geometrical approach to inverse kinematics for continuum manipulators

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