A Minimally Invasive Tendril Robot for In-Space Inspection

Mehling, Joshua S.; Diftler, Myron; Chu, Mars W.; Valvo, Mario

doi:10.1109/biorob.2006.1639170

Cited by 113 publications

(85 citation statements)

References 11 publications

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“…This class of robots promises considerable performance improvements in different areas which currently witness the presence of traditional robots, such as surgical applications, underwater manipulation, rehabilitation, repair, etc. [2], [3], [4]. As a natural by-product of this trend, kinematic and dynamic modeling and analysis of these types of robots have gained similar attention within the research community.…”

Section: Introductionmentioning

confidence: 99%

Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments

Sadati

Naghibi

Shiva

et al. 2017

Towards Autonomous Robotic Systems

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Abstract.: Investigations on control and optimization of continuum manipulators have resulted in a number of kinematic and dynamic modeling approaches each having their own advantages and limitations in various applications. In this paper, a comparative study of five main methods in the literature for kinematic, static and dynamic modeling of continuum manipulators is presented in a unified mathematical framework. The five widely used methods of Lumped system dynamic model, Constant curvature, two-step modified constant curvature, variable curvature Cosserat rod and beam theory approach, and series solution identification are re-viewed here with derivation details in order to clarify their methodological differences. A comparison between computer simulations and experimental results using a STIFF-FLOP continuum manipulator is presented to study the advantages of each modeling method.

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Section: Introductionmentioning

confidence: 99%

Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments

Sadati

Naghibi

Shiva

et al. 2017

Towards Autonomous Robotic Systems

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“…They have some unique and highly distinctive features when compared with rigid bodied robots: such as smooth bending, inherent compliance (Rucker and Webster, 2011a), reduced weight, and increased fault tolerance (Godage et al, 2011b). Continuum arms also have excellent potential for adaptive whole arm grasping (McMahan and Walker, 2008;Li and Xiao, 2011), obstacle avoidance (Godage et al, 2012a), navigation in highly unstructured, narrow and obstructed environments (Xiao and Vatcha, 2010), minimally invasive surgery Lyons et al, 2009;Penning et al, 2011;Simaan et al, 2004;Rucker and Webster, 2011b), inspection tasks (Mehling et al, 2006), and human friendly interaction . In light of these advantages, continuum and soft robotics has become an area of major importance in bio-inspired robotics.…”

Section: Introductionmentioning

confidence: 99%

Dynamics for variable length multisection continuum arms

Godage

Medrano-Cerda

Branson

et al. 2015

The International Journal of Robotics Research

127

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Variable length multisection continuum arms are a class of continuum robotic manipulators that generate motion by structural mechanical deformation. Unlike most continuum robots, the sections of these arms do not have (central) supporting flexible backbone, and are actuated by multiple variable length actuators. Because of the constraining nature of actuators, the continuum sections can bend and/or elongate (compress) depending on the elongation/contraction characteristics of the actuators being used. Continuum arms have a number of distinctive differences with respect to traditional rigid arms namely: smooth bending, high inherent compliance, and adaptive whole arm grasping. However, due to numerical instability and the complexity of curve parametric models, there are no spatial dynamic models for multisection continuum arms. This paper introduces novel spatial dynamics and applies these to variable length multisection continuum arms with any number of sections. An efficient recursive computational scheme for deriving the equations of motion is presented. This is applied in a general form based on structurally accurate and numerically well posed modal kinematics that assumes circular arc deformation of continuum sections without torsion. It is shown that the proposed modal dynamics are highly scalable, producing efficient and accurate numerical results. The spatial dynamic simulation results are experimentally validated using a pneumatic muscle actuated multisection prototype continuum arm. For the first time this enables investigation of spatial dynamic effects in this class of continuum arms.

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“…Inspired by the biology of snakes, tentacles, and climbing plants. Mehling et al [33] developed Tendril, NASA's latest robot designed for minimally invasive inspection. Buckingham et al [34] developed snake type commercial manipulator for OC Robotics.…”

Section: Spacementioning

confidence: 99%

Continuum Arm Robotic Manipulator: A Review

Singh¹,

Krishna²

2014

ujme

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Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. In this paper survey of literature related to continuum arm of robotic manipulator based on biological inspiration is carried out. It defines the fundamental difference between discrete, serpentine and continuum robot devices; presents the 'state of the art' of continuum robots and outlines their areas of application; and introduces some control issues. Finally some conclusions regarding the continued development of these devices are made.

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A Minimally Invasive Tendril Robot for In-Space Inspection

Cited by 113 publications

References 11 publications

Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments

Mechanics of Continuum Manipulators, a Comparative Study of Five Methods with Experiments

Dynamics for variable length multisection continuum arms

Continuum Arm Robotic Manipulator: A Review

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