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

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Volumn , Issue , 2005, Pages 2578-2585

  McMahan, William ^a   Jones, Bryan A ^a   Walker, Ian D ^a  

^a AMRL   (United States)

Author keywords

Biologically inspired robots; Continuum robot; Tentacle; Trunk

Indexed keywords

BIOMIMETICS; CABLES; INTELLIGENT ROBOTS; KINEMATICS; REAL TIME CONTROL;

BIOLOGICALLY-INSPIRED ROBOTS; CABLE LENGTH; CONTINUUM ROBOT; DESIGN AND IMPLEMENTATIONS; KINEMATIC MODEL; MULTI-SECTION; TENTACLE; TRUNK;

MACHINE DESIGN;

EID: 33748531900     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2005.1545487     Document Type: Conference Paper

References (23)

1. T. Aoki, A. Ochiai, and S. Hirose, "Study on Slime Robot", Proceedings IEEE International Conference on Robotics and Automation, New Orleans, 2004, pp. 2808-2813.
2. rd IFAC Symposium on Mechatronic Systems, Sydney, Australia, September 2004, pp. 55-60.
3. R. Buckingham and A. Graham (2003). Reaching the unreachable - snake arm robots. Presented at International Symposium of Robotics. Available via: OCRobotics Ltd. www.ocrobotics.com.
4. R. Cieslak and A. Morecki, "Elephant Trunk Type Elastic Manipultor - A Tool for Bulk and Liquid Type Materials Transportation", Robotica, Vol. 17, pp. 11-16, 1999.
5. I. A. Gravagne and I. D. Walker (2000). On the Kinematics of Remotely- Actuated Continuum Robots. In: Proceedings of the 2000 IEEE International Conference on Robotics & Automation, San Francisco, CA, USA. pp. 2544-2550.
6. M. W. Hannan and I. D. Walker (2003). Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots. Journal of Robotic Systems, 20(2), pp. 45-63.
7. S. Hirose (1993). Biologically Inspired Robots. Oxford University Press.
8. G. Immega and K. Antonelli (1995). The KSI Tentacle Manipulator. Proceedings 1995 IEEE Conference on Robotics and Automation, pp. 3149-3154.
9. B. A. Jones (2004). Kinematics of a Novel Pneumatic Manipulator. Technical report, Dept. of ECE, Clemson University, February 2004.
10. B. Jones and I. D. Walker, "A New Approach to Jacobian Formulation for a Class of Multi-Section Continuum Robots", IEEE International Conference on Robotics and Automation, Barcelona, Spain, 2005, pp. 3279-3284.
11. rd IFAC Symposium on Mechatronic Systems, Sydney, Australia, September 2004, pp. 745-750.
12. W. McMahan, B. Jones, I. Walker, V. Chitrakaran, A. Seshadri, and D. Dawson, "Robotic Manipulators Inspired by Cephalopod Limbs", Proceedings CDEN Design Conference, Montreal, Canada, pp. 1-10, 2004.
13. H. Ohno and S. Hirose (2001). Design of Slim Slime Robot and its Gait of Locomotion. Proceedings 2001 IEEE/RSJ International Conference on Intelligent Systems, Maui, Hawaii, USA. pp. 707-715. (Pubitemid 34683732)
14. M. B Pritts and C.D. Rahn, "Design of an Artifical Muscle Continuum Robot", Proceedings IEEE International Conference on Robotics and Automation, New Orleans, 2004, pp. 4742-4746.
15. G. Robinson and J.B.C. Davies (1999). Continuum Robots - A State of the Art. Proceedings 1999 IEEE International Conference on Robotics and Automation, pp. 2849- 2854.
16. N. Simaan, R. Taylor, and P. Flint, "A Dexterous System for Laryngeal Surgery", Proceedings IEEE International Conference on Robotics and Automation, New Orleans, 2004, pp. 351-357.
17. K. Suzumori, S. Iikura, H. Tanaka (1991). Development of Flexible Microactuator and its application to Robotic Mechanisms. Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1622-1627. (Pubitemid 21717075)
18. H. Takanobu, T. Tandai, and H. Miura, "Multi-DOF Flexible Robot Based on Tongue", Proceedings IEEE International Conference on Robotics and Automation, New Orleans, pp. 2673-2678, 2004.
19. H. Tsukagoshi, A. Kitagawa, and M. Segawa (2001). Active Hose: an Artificial Elephant's Nose with Maneuverability for Rescue Operation. Proceedings IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 2454-2459. (Pubitemid 32815573)
20. J. F. Wilson, D. Li, Z. Chen, and R. T. George Jr. (1993). Flexible Robot Manipulators and Grippers: Relatives of Elephant Trunks and Squid Tentacles. In: Robots and Biological Systems: Toward a New Bionics?, pp. 474-479.
21. M. Csencsits and B. A. Jones et. al. (2005) User Interfaces for Continuum Robot Arms. Accepted at the International Conferences on Intelligent Robotics and Systems, Edmonton, Canada, August 2005.
22. S. Ma, M. Watanabe, and H. Kondo, Dynamic Control of Curveconstrained Hyper-Redundant Manipulators, Proc. 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA'01), 2001, pp.83-88.
23. S. Ma and S. Hirose, Development of a Hyper-redundant Multijoint Manipulator for Maintenance of Nuclear Reactors, Advanced Robotics, Vol.9, No.3, 1995, pp.281-300.