A two dimensional inverse kinetics model of a cable driven manipulator inspired by the octopus arm

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 3819-3824

  Giorelli, Michele ^a   Renda, Federico ^a   Calisti, Marcello ^a   Arienti, Andrea ^a   Ferri, Gabriele ^a   Laschi, Cecilia ^a  

^a SCUOLA SUPERIORE SANT ANNA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

INVERSE KINEMATICS; INVERSE PROBLEMS; KINETICS; MOLLUSCS; ROBOTS; SHELLFISH;

CABLE-DRIVEN MANIPULATORS; CONSTANT CURVATURE; DIFFERENT SIZES; GEOMETRICALLY EXACT; GRASPING OBJECTS; KINETICS MODELING; PIECE-WISE CONSTANTS; SATISFACTORY DEGREE;

MANIPULATORS;

EID: 84864484315     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6225254     Document Type: Conference Paper

References (15)

1. G. Robinson and J. Davies, "Continuum Robots - a state of the art", Proc. IEEE Int. Conf. on Robotics and Automation, Detroit, MI, May 1999, pp. 2849-5 4
2. M. Calisti, M. Giorelli, G. Levy, B. Mazzolai, B. Hochner, C. Laschi, and P. Dario, "An octopus-bioinspired solution to movement and manipulation for soft robots", Bioinspir. Biomim. 6 (2011) 036002
3. G. S. Chirikjian and J. W. Burdick, "A modal approach to hyperredundant manipulator kinematics," IEEE Trans. on Robotics and Automation, vol. 10, no. 3, June 1994, pp. 343-354.
4. M. A. Hannan and I.D. Walker, "Kinematics and the implementation of an elephants trunk manipulator and other continuum style robots", Journal of Robotic Systems, Vol. 20, No. 2, February 2003, pp. 45-63.
5. B. A. Jones and I. D. Walker, "Kinematics for multisection continuum robots", IEEE Trans. on Robotics, vol. 22, no. 1, February 2006, pp. 43-57.
6. D. B. Camarillo, C. F. Milne, C. R. Carlson, M. R. Zinn, and J. K. Salisbury, "Mechanics modelling of tendon driven continuum manipulators", IEEE Trans. On Robotics, vol. 24, no. 6, pp. 1262-1273, December 2008.
7. D. B. Camarillo, C. R. Carlson, and J. F. Salisbury, "Configuration tracking for continuum manipulators with coupled tendon drive", IEEE Trans. On Robotics, vol. 25, no. 4, pp. 798-808, August 2009.
8. L. Ott, F. Nageotte, P. Zanne, and M. de Mathelin, "Robotic assistance to flexible endoscopy by physiological-motion tracking", IEEE Trans. On Robotics, vol. 27, no. 2, pp. 346-359, April 2011.
9. N. Simaan, R. Taylor, and P. Flint, "A dexterous system for laryngeal surgery," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, April 2004, pp. 351-357.
10. Laschi C., Mazzolai B., Mattoli V., Cianchetti M. and Dario P., "Design of a biomimetic robotic octopus arm", Bioinspiration & Biomimetics 4 015006, 2009
11. M. Calisti, A. Arienti, M. Giannaccini, M. Follador, M. Giorelli, M. Cianchetti, B. Mazzolai, C. Laschi, and P. Dario, "Study and fabrication of bioinspired octopus arm mock-ups tested on a multipurpose platform", IEEE/RAS-EMBS Int. Conf on Biomedical Robotics and Biomechatronics, Tokyo, Japan, September 2010, pp 461-466
12. G. Boccolato, I. Dinulescu, A. Predescu, F. Manta, S. Dumitru, D. Cojocaru, "3D Control for a tronconic tentacle", 12th Int. Conf. On Computer Modelling and Simulation, 2010
13. M.Cianchetti, A. Arienti, M. Follador, B. Mazzolai, P. Dario, C. Laschi, "Design concept and validation of a robotic arm inspired by the octopus", Material Science and Engineering: C, vol.3 1, issue 6, August 2011, pp 1230-1239
14. Y. Yekutieli, R. Mitelman, B. Hochner and T. Rash, "Analyzing Octopus Movements Using Three-Dimensional Reconstruction", J. of Neurophysiology, 98: 1775-1790, 2007.
15. D.C. Rucker and R.J. Webster, III, "Statics and Dynamics of Continuum Robots with General Tendon Routing and External Loading", IEEE Trans. on Robotics and Automation, vol. 27, no. 6, December 2011, pp. 1033-1044.