Whole arm planning for a soft and highly compliant 2D robotic manipulator

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2014, Pages 554-560

  Marchese, Andrew D ^a   Katzschmann, Robert K ^a   Rus, Daniela ^a  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; CONSTRAINED OPTIMIZATION; DEGREES OF FREEDOM (MECHANICS); INTELLIGENT ROBOTS; INVERSE KINEMATICS; INVERSE PROBLEMS; ROBOT PROGRAMMING; ROBOTICS;

COMPUTATIONAL APPROACH; CONFINED ENVIRONMENT; CONSTRAINED OPTIMI-ZATION PROBLEMS; INHERENT LIMITATIONS; MODULAR MANIPULATORS; PLANAR MANIPULATOR; ROBOTIC MANIPULATORS; SOFT MANIPULATOR;

MANIPULATORS;

EID: 84911486074     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2014.6942614     Document Type: Conference Paper

References (27)

1. D. Trivedi, C. D. Rahn, W. M. Kier, and I. D. Walker, "Soft robotics: Biological inspiration, state of the art, and future research," Applied Bionics and Biomechanics, vol. 5, no. 3, pp. 99-117, 2008.
2. A. D. Marchese, K. Komorowski, C. D. Onal, and D. Rus, "Design and control of a soft and continuously deformable 2d robotic manipulation system," in Proceedings of IEEE International Conference on Robotics and Automation, 2014.
3. R. V. Martinez, J. L. Branch, C. R. Fish, L. Jin, R. F. Shepherd, R. Nunes, Z. Suo, and G. M. Whitesides, "Robotic tentacles with three-dimensional mobility based on flexible elastomers," Advanced Materials, vol. 25, no. 2, pp. 205-212, 2013.
4. I. A. Gravagne and I. D. Walker, "Uniform regulation of a multisection continuum manipulator," in Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, vol. 2. IEEE, 2002, pp. 1519-1524.
5. M. B. Pritts and C. D. Rahn, "Design of an artificial muscle continuum robot," in Robotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on, vol. 5. IEEE, 2004, pp. 4742-4746.
6. W. McMahan, B. A. Jones, and I. D. Walker, "Design and implementation of a multi-section continuum robot: Air-octor," in Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on. IEEE, 2005, pp. 2578-2585.
7. W. McMahan, V. Chitrakaran, M. Csencsits, D. Dawson, I. D. Walker, B. A. Jones, M. Pritts, D. Dienno, M. Grissom, and C. D. Rahn, "Field trials and testing of the octarm continuum manipulator," in Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on. IEEE, 2006, pp. 2336-2341.
8. G. Chen, M. T. Pham, and T. Redarce, "Development and kinematic analysis of a silicone-rubber bending tip for colonoscopy," in Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, 2006, pp. 168-173.
9. D. B. Camarillo, C. R. Carlson, and J. K. Salisbury, "Configuration tracking for continuum manipulators with coupled tendon drive," Robotics, IEEE Transactions on, vol. 25, no. 4, pp. 798-808, 2009.
10. R. Kang, D. T. Branson, T. Zheng, E. Guglielmino, and D. G. Caldwell, "Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures," Bioinspiration &biomimetics, vol. 8, no. 3, p. 036008, 2013.
11. H. Wang, W. Chen, X. Yu, T. Deng, X. Wang, and R. Pfeifer, "Visual servo control of cable-driven soft robotic manipulator," in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, Nov 2013, pp. 57-62.
12. R. J. Webster and B. A. Jones, "Design and kinematic modeling of constant curvature continuum robots: A review," The International Journal of Robotics Research, vol. 29, no. 13, pp. 1661-1683, 2010.
13. M. W. Hannan and I. 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, 2003.
14. I. A. Gravagne, C. D. Rahn, and I. D. Walker, "Large deflection dynamics and control for planar continuum robots," Mechatronics, IEEE/ASME Transactions on, vol. 8, no. 2, pp. 299-307, 2003.
15. C. Li and C. D. Rahn, "Design of continuous backbone, cable-driven robots," Journal of Mechanical Design, vol. 124, p. 265, 2002.
16. B. A. Jones and I. D. Walker, "Practical kinematics for real-time implementation of continuum robots," Robotics, IEEE Transactions on, vol. 22, no. 6, pp. 1087-1099, 2006.
17. C. D. Onal, X. Chen, G. M. Whitesides, and D. Rus, "Soft mobile robots with on-board chemical pressure generation," in International Symposium on Robotics Research, ISRR, 2011.
18. R. Buckingham, "Snake arm robots," Industrial Robot: An International Journal, vol. 29, no. 3, pp. 242-245, 2002.
19. S. Neppalli, M. A. Csencsits, B. A. Jones, and I. D. Walker, "Closedform inverse kinematics for continuum manipulators," Advanced Robotics, vol. 23, no. 15, pp. 2077-2091, 2009.
20. B. A. Jones and I. D. Walker, "Kinematics for multisection continuum robots," Robotics, IEEE Transactions on, vol. 22, no. 1, pp. 43-55, 2006.
21. M. Csencsits, B. A. Jones, W. McMahan, V. Iyengar, and I. D. Walker, "User interfaces for continuum robot arms," in Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on. IEEE, 2005, pp. 3123-3130.
22. D. N. Nenchev, "Redundancy resolution through local optimization: A review," Journal of Robotic Systems, vol. 6, no. 6, pp. 769-798, 1989.
23. N. Correll, C. D. Onal, H. Liang, E. Schoenfeld, and D. Rus, "Soft autonomous materialsusing active elasticity and embedded distributed computation," in 12th International Symposium on Experimental Robotics. New Delhi, India, 2010.
24. C. D. Onal and D. Rus, "Autonomous undulatory serpentine locomotion utilizing body dynamics of a fluidic soft robot," Bioinspiration &biomimetics, vol. 8, no. 2, p. 026003, 2013.
25. A. D. Marchese, C. D. Onal, and D. Rus, "Soft robot actuators using energy-efficient valves controlled by electropermanent magnets," in Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on. IEEE, 2011, pp. 756-761.
26. R. F. Shepherd, F. Ilievski, W. Choi, S. A. Morin, A. A. Stokes, A. D. Mazzeo, X. Chen, M. Wang, and G. M. Whitesides, "Multigait soft robot," Proceedings of the National Academy of Sciences, vol. 108, no. 51, pp. 20 400-20 403, 2011.
27. R. F. Shepherd, A. A. Stokes, J. Freake, J. Barber, P. W. Snyder, A. D. Mazzeo, L. Cademartiri, S. A. Morin, and G. M. Whitesides, "Using explosions to power a soft robot," Angewandte Chemie, vol. 125, no. 10, pp. 2964-2968, 2013.