Snake arm robots

Buckingham, Rob

doi:10.1108/01439910210425531

Cited by 103 publications

(48 citation statements)

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“…Taking inspiration from nature, researchers have created new robotic systems to overcome limitations of traditional robots composed of rigid joints and links [1]. In particular, animals' appendages such as the elephant trunk or the octopus arm have become the focus of studies creating soft, hyper-redundant robots, with capabilities similar to those of the biological role models [2]- [5].…”

Section: Introductionmentioning

confidence: 99%

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

Shiva

Stilli

Noh

et al. 2016

IEEE Robot. Autom. Lett.

171

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Abstract-There is an emerging trend towards soft robotics due to its extended manipulation capabilities compared to traditionally rigid robot links, showing promise for an extended applicability to new areas. However, as a result of the inherent property of soft robotics being less rigid, the ability to control/obtain higher overall stiffness when required is yet to be further explored. In this paper, an innovative design is introduced which allows varying the stiffness of a continuum silicon-based manipulator and proves to have potential for applications in Minimally Invasive Surgery. Inspired by muscular structures occurring in animals such as the octopus, we propose a hybrid and inherently antagonstic actuation scheme. In particular, the octopus makes use of this principle activating two sets of muscles -longitudinal and transverse musclesthus, being capable of controlling the stiffness of parts of its arm in an antagonistic fashion. Our designed manipulator is pneumatically actuated employing chambers embedded within the robot's silicone structure. Tendons incorporated in the structure complement the pneumatic actuation placed inside the manipulator's wall to allow variation of overall stiffness. Experiments are carried out by applying an external force in different configurations while changing the stiffness by means of the two actuation mechanisms. Our test results show that dual, antagonistic actuation increases the load bearing capabilities for soft continuum manipulators and thus their range of applications.

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Section: Introductionmentioning

confidence: 99%

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

Shiva

Stilli

Noh

et al. 2016

IEEE Robot. Autom. Lett.

171

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“…It is of practical significance that the interior of the robot is a hollow tube structure so that it can carry a camera or any other instruments, allowing the robot to perform a wide variety of operations. Bukinghan et al [7] designed and manufactured snake-arm robots for remote handling operations in confined and hazardous spaces in OC Robotics. OC Robotics also developed well-known snake-like robots driven by cables for nuclear, aerospace and security.…”

Section: Introductionmentioning

confidence: 99%

New cable-driven continuun robot with only one actuator

Jiang

Luo

Jin

2017

2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation And

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Abstract-This paper presents a new cable-driven continuum robot by using the time-based control method with only actuator. The continuum robot consists of 3 sections, and each section has 2 DOFs. It is driven by a constant speed motor connected to a series of electromagnetic clutches. The clutches will be activated for providing the motion of the cables. A new time-based control method named 'Time Width Modulation' is proposed to control the continuum robot. Kinematics and workspace analyses are carried out. A prototype is built up and experimental results demonstrate the effectiveness of the proposed design and control method.

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“…Indeed, the inclusion of many extra degrees of freedom (hyper-redundancy) has been a key motivation for continuum robots, enabling them to maneuver in congested environments [19] and allowing them to form whole arm grasps [20,21] of a wide range of objects. While there have been attempts to adapt the conventional (rigid link) approaches to redundancy resolution by appropriately selecting the shape of the robot subject to task constraints [5,16], their practical effectiveness have been hampered by the complexity of the analysis, particularly in the resulting Jacobians.…”

Section: Introductionmentioning

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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Snake arm robots

Cited by 103 publications

References 0 publications

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

New cable-driven continuun robot with only one actuator

A geometrical approach to inverse kinematics for continuum manipulators

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