Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications

Kang, Alice J.; Kazakidi, Asimina; Guglielmino,; Branson,; Tsakiris,; Ekaterinaris,; Caldwell,

doi:10.1109/iros.2011.6048077

Cited by 24 publications

(29 citation statements)

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“…Investigations are currently under way in Robotics to develop dexterous manipulators inspired by the morphology and mechanical properties of the octopus arms [11,14,[26][27][28]. Underwater systems equipped with such manipulators and endowed with multi-function capabilities, would significantly enhance their possible applications.…”

Section: Introductionmentioning

confidence: 99%

Octopus-inspired multi-arm robotic swimming

Sfakiotakis¹,

Kazakidi

Tsakiris

2015

Bioinspir. Biomim.

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Abstract. The outstanding locomotor and manipulation characteristics of the octopus have recently inspired the development, by our group, of multi-functional robotic swimmers, featuring both manipulation and locomotion capabilities, which could be of significant engineering interest in underwater applications. During its littlestudied arm-swimming behavior, as opposed to the better known jetting via the siphon, the animal appears to generate considerable propulsive thrust and rapid acceleration, predominantly employing movements of its arms. In this work, we approximate the corresponding complex pattern of arm motion with a sculling-like profile, involving a fast power stroke and a slow recovery stroke. We investigate the propulsive capabilities of a multi-arm robotic system under various swimming gaits, namely patterns of arm coordination, which achieve the generation of forward, as well as backwards, propulsion and of turning. A lumped-element model of the robotic swimmer, which considers arm compliance and the interaction with the aquatic environment, was used to study the characteristics of these gaits, the effect of various kinematic parameters on propulsion and the generation of complex trajectories. This investigation focuses on relatively high-stiffness arms. Experiments with a compliant-body robotic prototype swimmer with eight compliant arms, all made of polyurethane, inside a water tank, successfully demonstrated this novel mode of underwater propulsion. Speeds of up to 0.26 body lengths per second (98.6 mm/s), and propulsive forces of up to 3.5 N were achieved, with a non-dimensional cost of transport of 1.42 with all 8 arms and of 0.9 with only 2 active ones. The experiments confirmed the computational results and verified the multi-arm maneuverability and simultaneous object grasping capability of such systems.

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Section: Introductionmentioning

confidence: 99%

Octopus-inspired multi-arm robotic swimming

Sfakiotakis¹,

Kazakidi

Tsakiris

2015

Bioinspir. Biomim.

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“…There have been a number of studies conducted in this area of robotics: on the motion of a snake [8][9][10], an octopus tentacle [11][12][13], an elephant trunk [14,15] and an inch worm or caterpillar [16][17][18], and similar motion generating species [19][20][21]. While there is a trend moving away from rigid robotic systems towards softer robotic systems, the soft robotic examples in the literature generally rely on external actuation systems such as electric motors with conventional rigid mechanisms as endoskeleton or tendons with a pulley system, or a pump.…”

Section: Introductionmentioning

confidence: 99%

3D Printed Flexure Hinges for Soft Monolithic Prosthetic Fingers

et al. 2016

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Mechanical compliance is one of the primary properties of structures in nature playing a key role in their efficiency. This study investigates a number of commonly used flexure hinges to determine a flexure hinge morphology, which generates large displacements under a lowest possible force input. The aim of this is to design a soft and monolithic robotic finger. Fused deposition modeling, a low-cost 3D printing technique, was used to fabricate the flexure hinges and the soft monolithic robotic fingers. Experimental and finite element analyses suggest that a nonsymmetric elliptical flexure hinge is the most suitable type for use in the soft monolithic robotic finger. Having estimated the effective elastic modulus, flexion of the soft monolithic robotic fingers was simulated and this showed a good correlation with the actual experimental results. The soft monolithic robotic fingers can be employed to handle objects with unknown shapes and are also potential low-cost candidates for establishing soft and one-piece prosthetic hands with light weight. A three-finger gripper has been constructed using the identified flexure hinge to handle objects with irregular shapes such as agricultural products. AbstractMechanical compliance is one of the primary properties of structures in nature playing a key role in their efficiency. This study investigates a number of commonly used flexure hinges in order to determine flexure hinge morphology which generates larger displacements under the lowest force input. The aim of this is to design a soft and monolithic robotic finger. Fused deposition modelling (FDM), a low cost 3D printing technique, was used in order to fabricate the flexure hinges and the soft monolithic robotic fingers. Experimental and finite element analyses suggest that a non-symmetric elliptical flexure hinge is the most suitable type for use in the soft monolithic robotic finger. Having estimated the effective elastic modulus, flexion of the soft monolithic robotic fingers was simulated and this showed a good correlation with the actual experimental results. The soft monolithic robotic fingers can be employed to handle objects with unknown shapes and are also potential low cost candidates for establishing soft and one-piece prosthetic hands with light weight. A 3-finger gripper has been constructed using the identified flexure hinge to handle objects with irregular shapes such as agricultural products.

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“…Control of these robots are also relatively less sophisticated due to their unchanged link dimensions and known kinematics. Recent research efforts in robotics is towards more biologically inspired robotics with robots mimicking continuous body deformation of their natural counterparts such as elephant trunk [1,2], an octopus arm [3][4][5], a snake [6][7][8], a fish [9], a worm and a caterpillar [10][11][12]. Namely, soft robotics, as an emerging research field, focuses on exploiting material properties in order to realize novel robotic systems and devices with more natural kinematic motions.…”

Section: Introductionmentioning

confidence: 99%

A 3D printed monolithic soft gripper with adjustable stiffness

Mutlu

Tawk

Alici

et al. 2017

IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society

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Soft robotics has recently gained a significant momentum as a newly emerging field in robotics that focuses on biomimicry, compliancy and conformability with safety in near-human environments. Beside conventional fabrication methods, additive manufacturing is a primary technique to employ to fabricate soft robotic devices. We developed a monolithic soft gripper, with variable stiffness fingers, that was fabricated as a onepiece device. Negative pressure was used for the actuation of the gripper while positive pressure was used to vary the stiffness of the fingers of the gripper. Finger bending and gripping capabilities of the monolithic soft gripper were experimentally tested. Finite element simulation and experimental results demonstrate that the proposed monolithic soft gripper is fully compliant, low cost and requires an actuation pressure below -100 kPa. Abstract-Soft robotics has recently gained a significant momentum as a newly emerging field in robotics that focuses on biomimicry, compliancy and conformability with safety in near-human environments. Beside conventional fabrication methods, additive manufacturing is a primary technique to employ to fabricate soft robotic devices. We developed a monolithic soft gripper, with variable stiffness fingers, that was fabricated as a one-piece device. Negative pressure was used for the actuation of the gripper while positive pressure was used to vary the stiffness of the fingers of the gripper. Finger bending and gripping capabilities of the monolithic soft gripper were experimentally tested. Finite element simulation and experimental results demonstrate that the proposed monolithic soft gripper is fully compliant, low cost and requires an actuation pressure below -100 kPa.

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Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications

Cited by 24 publications

References 0 publications

Octopus-inspired multi-arm robotic swimming

Octopus-inspired multi-arm robotic swimming

3D Printed Flexure Hinges for Soft Monolithic Prosthetic Fingers

A 3D printed monolithic soft gripper with adjustable stiffness

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