A 3D dynamic model for continuum robots inspired by an octopus arm

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 3652-3657

  Zheng, Tianjiang ^a   Branson, David T ^a   Guglielmino, Emanuele ^a   Caldwell, Darwin G ^a  

^a ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ARM MOTIONS; CONTINUUM ROBOT; INFINITE NUMBERS; MULTI-SEGMENT; NON-RIGID;

DYNAMIC MODELS; MUSCLE; ROBOTIC ARMS; SHELLFISH; THREE DIMENSIONAL; THREE DIMENSIONAL COMPUTER GRAPHICS;

ROBOTICS;

EID: 84861355704     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5979599     Document Type: Conference Paper

References (20)

1. E. Tatlicioglu, D. Walker, "Dynamic Modeling for Planar Extensible Continuum Robot Manipulators" Proc. IEEE Intl. Conf. on Robotics and Automation, Roma, Italy, pp. 1357-1362, April 2007.
2. R. Cieslak and A. Morecki, "Elephant trunk type elastic manipulator - a tool for bulk and liquid type materials transportation," Robotics, Vol. 17, pp. 11-16, 1999.
3. W. Hannan and D. Walker, "Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots," Journal of Robotic Systems, Vol. 20, no. 2, pp. 45-63, Feb 2003.
4. S. Hirose, "Biologically inspired robots: Snake-Like Locomotors and Manipulators," Oxford University Press, pp. 147-155, 1993.
5. G. Sumbre, Y. Gutfreund, G. Fiorito, T. Flash, and B. Hochner. "Control of octopus arm extension by a peripheral motor program." Science 293, pp 1845-1848, 2001.
6. Wolf, H. B. Brown, R. Casciola, A. Costa, M. Schwerin, E. Shamas, and H. Choset, "A mobile hyper redundant mechanism for search and rescue tasks," Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Taipei, Taiwan, Vol. 3, pp. 2889-2895, May 2003.
7. N. Simaan, R. Taylor and P. Flint, "A dexterous system for laryngeal surgery", IEEE Conf. Robotics and Automation, New Orleans, pp. 351-357, 2004.
8. B. Jones and D. Walker, "Three-Dimensional Modeling and Display of Continuum Robots," Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Beijing, China, pp. 5872-5877, Oct 2006.
9. G. Robinson and J. B. C. Davies, "Continuum robots - a state of the art," Proc. IEEE Conf Robotics and Automation, Detroit, Michigan, pp. 2849-2854, May 1999.
10. G. Chirikjian and J. Burdick, "A Modal Approach to HyperRedundant Manipulator Kinematics," IEEE Robot. Automat. Mag., Vol. 10, no. 3, pp. 343-354, 1994.
11. B. A. Jones, R. L. Gray, K. Turlapati, "Three dimensional statics for continuum robots," Proc of the IEEE/RSJ Conference on Intelligent Robots and Systems, 2009, St. Louis, MO, USA, pp. 2659-2664, Oct. 11-15.
12. P. Graziadei, J. Z. Yong "The nervous system of the arms, in anatomy of the Nervous System of Octopus Vulgaris,", Oxford, pp. 45-49. 1971.
13. D. Walker, DM. Dawson, T. Flash, FW. Grasso, RT. Hanlon, B. Hochner, WM. Kier, CC. Pagano, CD. Rahn, QM. Zhang, "Continuum robot arms inspired by cephalopods." Proc of the SPIE, Orlando, FL, pp. 303-314, 2005.
14. R. Pfeifer, M. Lungarella, F. Iida, "Self-Organization, Embodiment, and Biologically Inspired Robotics". Science Vol. 318. No. 5853, pp. 1088 - 1093, 2007
15. C. Laschi, B. Mazzolai, V. Mattoli, M. Cianchetti, P. Dario, "Design of a biomimetic robotic octopus arm", Bioinspir. Biomim. Vol.4, No.1. 2009.
16. WM. Kier, KK. Smith. "Tongues, tentacles and trunks: the biomechanics movement in muscular-hydrostats." Zoological J Linn Soc Vol. 83. pp. 307-324, 1985.
17. L. Margheri, B. Mazzolai, M. Cianchetti, P. Dario, C. Laschi, "Tools and Methods for Experimental In-vivo Measurement and Biomechanical Characterization of an Octopus vulgaris Arm", Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Minneapolis, Minnesota, USA, pp. 7196-7199, September, 2009.
18. Y. Gutfreund, T. Flash, G. Fiorito, and B. Hochner. "Patterns of arm muscle activation involved in octopus reaching movements." J Neuroscience, Vol, 18, 5976-5987, 1998.
19. G. Sumbre, G. Fiorito, T. Flash, T, and B. Hochner, "Motor control of flexible octopus arms." Nature, Vol, 433, pp. 595-596, 2005.
20. Y. Yekutieli and R. Sagiv-Zohar, "Dynamic Model of the Octopus arm. I. Biomechanics of the Octopus Reaching Movement," J. Neurophysiology, Vol. 94, pp.1443-1458, 2005.