Design and Development of a Soft Actuator for a Robot Inspired by the Octopus Arm

Springer Tracts in Advanced Robotics

Volumn 54, Issue , 2009, Pages 25-33

  Laschi, Cecilia ^a,b   Mazzolai, Barbara ^a,b   Mattoli, Virgilio ^a   Cianchetti, Matteo ^a,b   Dario, Paolo ^a,b  

^a SCUOLA SUPERIORE SANT ANNA   (Italy)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ARM MOVEMENTS; COMPLIANT STRUCTURES; DESIGN AND DEVELOPMENT; ELECTRO-ACTIVE POLYMERS; MUSCULAR HYDROSTAT; SMALL APERTURE; SOFT ACTUATORS; THEORETICAL MODELING;

MACHINE DESIGN; MUSCLE; ROBOTICS; SHELLFISH; STIFFNESS;

MOLLUSCS;

EID: 84883010188     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-642-00196-3_4     Document Type: Conference Paper

References (22)

1. Bar-Cohen, Y.: Electroactive Polymer (EAP) Actuators as Artificial Muscles: Reality, Potential, and Challenges. SPIE Press, Bellingham (2004)
2. Brooks, R.A.: New Approaches to Robotics. Science 253, 1227-1232 (1991)
3. Chirikjian, G.S., Burdick, J.: Kinematically optimal hyper-redundant manipulator configurations. IEEE Trans. on Robotics and Automation 11, 794-806 (1995)
4. Hannan, M.A., Walker, I.D.: Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots. J. of Robotic Systems 20(2), 45-63 (2003)
5. Hirose, S.: Biologically-Inspired Robots: snakelike locomotors and manipulators. Oxford University Press, Oxford (1993)
6. Ijspeert, A., Crespi, A., Ryczko, D., Cabelgruen, J.M.: From swimming to walking with a salamander robot driven by a spinal cord model. Science 315, 1416-1420 (2007)
7. Jones, B.A., Walker, I.D.: Kinematics for multisection continuum robots. IEEE Trans. on Robotics 22(1), 43-57 (2006)
8. Mazzolai, B., Laschi, C., Cianchetti, M., Patanè, F., Bassi Luciani, L., Izzo, I., Dario, P.: Biorobotic investigation on the muscle structure of an octopus tentacle. In: Conf. Proc. IEEE Eng. Med. Biol. Soc., vol. 1, pp. 1571-1574 (2007)
9. Laschi, C., Mazzolai, B., Mattoli, V., Cianchetti, M., Dario, P.: Design of a biomimetic robotic octopus arm. Bioinspiration & Biomimetics(submitted, 2008)
10. Li, C., Rahn, C.: Design of continuous backbone, cable-driven robots. ASME J. of Mechanical Design 124(2), 265-271 (2002)
11. Paljug, E., Ohm, T., Hayati, S.: The JPL serpentine robot: a 12-DOF system for inspection. In: Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3143-3148 (1995)
12. Pelrine, R., Kornbluh, R., Pei, Q., Stanford, S., Oh, S., Eckerle, J.: Dielectric elastomer artificial muscle actuators: Toward biomimetic motion. In: SPIE Smart Structures and Materials, Electroactive Polymer Actuators and Devices, vol. 4695, pp. 126-137 (2002)
13. Pfeifer, R., Lungarella, M., Iida, F.: Self-Organization, Embodiment, and Biologically Inspired Robotics. Science 5853(318), 1088-1093 (2007)
14. Pons, J.L.: Emerging Actuator Technologies: A Micromechatronic Approach. John Wiley & Sons, Ltd., Chichester (2005)
15. Sanchez, C., Arribart, H., Guille, M.M.G.: Biomimetism and bioinspiration as tools for the design of innovative materials and systems. Nature Materials (4) (2005)
16. Simaan, N.: Snake-like units using flexible backbones and actuation redundancy for enhanced miniaturization. In: Proc. of Int. Conf. on Robotics and Automation, pp. 3012-3017 (2005)
17. Smith, K.K., Kier, W.M.: Trunks, tongues, and tentacles: moving with skeletons of muscle. American Scientist (77) (1989)
18. Sumbre, G., Gutfreund, Y., Fiorito, G., Flash, T., Hochner, B.: Control of octopus arm extension by a peripheral motor program. Science 293, 1845-1848 (2001)
19. Tsukagoshi, H., Kitagawa, A., Segawa, M.: Active hose: an artificial elephant's nose with maneuverability for rescue operation. In: Proc. of Int. Conf. on Robotics and Automation, pp. 2454-2459 (2001)
20. Walker, I., Dawson, D., Flash, T., Grasso, F., Hanlon, R., Hochner, B., Kier, W., Pagano, C., Rahn, C., Zhang, Q.: Continuum Robot Arms Inspired by Cephalopods. In: SPIE The International Society for Optical Engineering Defense and Security Symposium, Orlando, FL (2005)
21. Wilson, J.F., Li, D., Chen, Z., George Jr., R.T.: Flexible robot manipulators and grippers: relatives of elephant trunks and squid tentacles. In: Dario, P., Sandini, G., Aebischer, P. (eds.) Robots and Biological Systems: Toward a New Bionics. Springer, Berlin (1993)
22. Yekutieli, Y., Sumbre, G., Flash, T., Hochner, B.: How to move with no rigid skeleton? The octopus has the answers. Biologist 49(6), 250-254 (2002)