Kinematic Modeling and Trajectory Tracking Control of an Octopus-Inspired Hyper-Redundant Robot

Lafmejani, Amir Salimi; Doroudchi, Azadeh; Farivarnejad, Hamed; He, Ximin; Aukes, Daniel M.; Peet, Matthew M.; Marvi, Hamidreza; Fisher, Rebecca E.; Berman, Spring

doi:10.1109/lra.2020.2976328

Cited by 31 publications

(12 citation statements)

References 26 publications

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“…where θ l (t) ∈ R n and θ r (t) ∈ R n are respectively left and right antennae for searching the optimal joint angle by the beetle, R(•) : R n → R n denotes the searching limit function, θ(t) ∈ R n denotes the current joint angle of the redundant manipulator at time instant t, λ(t) ∈ R denotes the antenna length/distance of the beetle as the exploration parameter, and b ∈ R n denotes the randomly-generated searching direction Initially generate δ(t) and λ(t) according to (12) and (13) 6for i <= n do ii) Compute antennaes θ l (t) ∈ R n and θ r (t) ∈ R n with b according to formulas (8) and (9) 9iii) Make θ l (t) and θ r (t) within the exploration limit based on 1010 iv) Calculate the fitness of the antennaes using 711 v) Determine the position of the ith beetle using (11) and standardize it into the allowed space with (10)…”

Section: A Generating Searching Antennae For Beetle In Joint Spacementioning

confidence: 99%

Motion Planning of Redundant Manipulator With Variable Joint Velocity Limit Based on Beetle Antennae Search Algorithm

Cheng

et al. 2020

IEEE Access

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Redundant manipulators play important roles in many industrial and service applications by assisting people fulfill heavy and repetitive jobs. However, redundant manipulators are coupled highlynonlinear systems which exert difficulty of redundancy resolution computation. Conventional methods such as pseudo-inverse-based approaches obtain the resolved joint angles from joint velocity level, which may bring about more computational cost and may neglect joint velocity limits. In this work, a motion planning method based on beetle antennae search algorithm (BAS) is proposed for motion planning of redundant manipulators with the variable joint velocity limit. Such proposed work does not need to resolve the velocity kinematics equation as the conventional methods do, and the proposed method can directly deal with the forward kinematics equation to resolve the desired joint angles. The simulation and experiment on the five-link planar manipulator and the Kuka industrial manipulator system demonstrate the efficiency of the proposed method for motion planning of redundant manipulator, and reveal the reliable performance of the BAS algorithm as compared with genetic algorithm (GA), particle swarm optimization (PSO), firefly algorithm(FA) and quantum behaved particle swarm algorithm(QPSO) methods.

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Section: A Generating Searching Antennae For Beetle In Joint Spacementioning

confidence: 99%

Motion Planning of Redundant Manipulator With Variable Joint Velocity Limit Based on Beetle Antennae Search Algorithm

Cheng

et al. 2020

IEEE Access

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“…The most used method is the piecewise constant curvature method proposed by Ian Walker. This method is simple and practical and has a wide range of applications ( Lafmejani et al, 2020 ). At the same time, to improve the accuracy of modeling, many scholars have also proposed more complex modeling methods, such as the variable curvature method and the Cosserat rod method.…”

Section: Introductionmentioning

confidence: 99%

Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus

Yang

et al. 2022

Front. Robot. AI

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The soft organisms in nature have always been a source of inspiration for the design of soft arms and this paper draws inspiration from the octopus’s tentacle, aiming at a soft robot for moving flexibly in three-dimensional space. In the paper, combined with the characteristics of an octopus’s tentacle, a cable-driven soft arm is designed and fabricated, which can motion flexibly in three-dimensional space. Based on the TensorFlow framework, a data-driven model is established, and the data-driven model is trained using deep reinforcement learning strategy to realize posture control of a single soft arm. Finally, two trained soft arms are assembled into an octopus-inspired biped walking robot, which can go forward and turn around. Experimental analysis shows that the robot can achieve an average speed of 7.78 cm/s, and the maximum instantaneous speed can reach 12.8 cm/s.

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“…Based on the kinematics equation, Xiang and Li et al 2 proposed a dynamic rotational trajectory planning approach of cable-driven parallel robot for passing through singular orientations. Lafmejani and Doroudchi et al 3 dealt with the forward and inverse kinematic problems of hyper-redundant robots inspired by octopus arms based on a 6-DOF (Degree of Freedom) Gough-Stewart parallel platform and planned trajectory of the moving platform. Lu and Ding et al 4 analyzed the comprehensive kinematics characteristics of 3-PUU parallel manipulator and proposed a minimum-jerk trajectory planning approach to solve the trajectory generation problem.…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning of 3-CRU parallel robot with linear kinematics equation

Cao

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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With advantages of linear kinematics equation, no singular pose, regular workspace, the best motion/force transmission performance, 3-CRU parallel robot is potential to perform better when rapid and repetitive grasping/handling in packaging and medicine industry. For this reason, this paper deals with trajectory planning of the 3-CRU parallel robot. The trajectory planning method of the 3-CRU parallel robot is proposed for the first time whose advantage is the robot can arbitrarily increase the interpolation period in the Cartesian space without a twice interpolation in the joint space. This method simplifies the interpolation process of trajectory planning, reduces the occupation of computational resources, improves the computational efficiency of the controller, and benefits the real-time online control. For the problem of residual vibration when the robot stops, the input shaping technology is adopted and time delay compensation strategy is proposed, which improves the positioning accuracy of the moving platform and ensures fixed running time. This paper lays a theoretical and practical foundation for the application of the 3-CRU parallel robot in the future.

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Kinematic Modeling and Trajectory Tracking Control of an Octopus-Inspired Hyper-Redundant Robot

Cited by 31 publications

References 26 publications

Motion Planning of Redundant Manipulator With Variable Joint Velocity Limit Based on Beetle Antennae Search Algorithm

Motion Planning of Redundant Manipulator With Variable Joint Velocity Limit Based on Beetle Antennae Search Algorithm

Bipedal Walking of Underwater Soft Robot Based on Data-Driven Model Inspired by Octopus

Trajectory planning of 3-CRU parallel robot with linear kinematics equation

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