Autonomous robotic refueling of an unmanned surface vehicle in varying sea states

Scott, Gregory; Henshaw, Carl Glen; Walker, Ian D.; Willimon, Bryan

doi:10.1109/iros.2015.7353591

Cited by 17 publications

(13 citation statements)

References 7 publications

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“…Novel applications are emerging. Continuum robots have been deployed recently as "active hoses" for ship-to-shore refueling [118]. Extension to continuum robot surfaces, with application to rehabilitation therapy for poststroke patients, has been proposed [119].…”

Section: Ongoing Researchmentioning

confidence: 99%

Continuous Backbone “Continuum” Robot Manipulators

2013

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This paper describes and discusses the history and state of the art of continuous backbone robot manipulators. Also known as continuum manipulators, these robots, which resemble biological trunks and tentacles, offer capabilities beyond the scope of traditional rigid-link manipulators. They are able to adapt their shape to navigate through complex environments and grasp a wide variety of payloads using their compliant backbones. In this paper, we review the current state of knowledge in the field, focusing particularly on kinematic and dynamic models for continuum robots. We discuss the relationships of these robots and their models to their counterparts in conventional rigid-link robots. Ongoing research and future developments in the field are discussed.

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Section: Ongoing Researchmentioning

confidence: 99%

Continuous Backbone “Continuum” Robot Manipulators

2013

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“…Sanan et al (Sanan, 2013; Sanan et al, 2009, 2011, 2014) designed and developed an arm‐like soft manipulator PneuArm, which was composed of multiple air bags stacked and assembled in a complex way, without any rigid skeleton structure, as shown in Figure 3a. Walker et al (Grissom et al, 2006; Jones & Walker, 2007; Mcmahan et al, 2006; Scott et al, 2015; Trivedi et al, 2007a, 2007b; Trivedi, et al, 2008a, 2008b; Walker & Green, 2009) designed and developed a soft manipulator OctArm, which imitated the tentacle of octopus. It was composed of multiple soft actuators stacked in series, and each actuator adopted a symmetrical parallel structure with three cavities, as shown in Figure 3b.…”

Section: Research Status Of Soft Manipulatormentioning

confidence: 99%

A review of soft manipulator research, applications, and opportunities

Chen

Zhang

Huang

et al. 2021

Journal of Field Robotics

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Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to perform manipulation task under the specific drive mode inspired by the soft tissue. It is developing gradually as an important component of the soft robot. In this paper, the typical design cases of the soft manipulators as well as the related research teams are firstly investigated. The characteristics of different drive modes are compared and analyzed. Based on these investigations, the enabling technologies are systematically summarized in five aspects, such as kinematic and dynamic modeling, motion control, shape detection, dynamic tactile perception, and stiffening method. Currently, the research on soft manipulator has initially formed a technical system, although it is still in the primary stage. With the development of the soft manipulator, its overall technology maturity will be gradually improved. Currently, the applications of the soft manipulator lie mainly in the fields of the ground rescue, the underwater grabbing, the medical operation, the assist maintenance, the man–machine interaction, the space manipulation and so on. The application fields, such as origami soft manipulator, biomimetic soft microrobots, self‐healing soft robot, space soft manipulator and so on, emerge new opportunities and challenges for the soft manipulators.

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“…e primary application of vineinspired robots is in the field of space and planetary exploration. Scientists at NASA, Mehling et al [161] and Tonapi et al [163], developed a tendril robot (Figure 6(a)) and a robotic manipulator for minimally invasive inspection along with manipulation for space operations [160][161][162][163][164][165][166][167][168][169][170]. e tendril robot consists of three subsystems with nine motors of actuation, body mechanism, and avionics, as shown in Figure 6(a) [161].…”

Section: Manipulation Flexibilitymentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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This paper presents a literature survey documenting the evolution of continuum robots over the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect to the following three design parameters: structure, materials, and actuation. Using this three-faced prism, we identify the uniqueness and novelty of robots that have hitherto not been publicly disclosed. The motivation for this study comes from the fact that continuum soft robots can make inroads in industrial manufacturing, and their adoption will be accelerated if their key advantages over counterparts with rigid links are clear. Four different taxonomies of continuum robots are included in this study, enabling researchers to quickly identify robots of relevance to their studies. The kinematics and dynamics of these robots are not covered, nor is their application in surgical manipulation.

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Autonomous robotic refueling of an unmanned surface vehicle in varying sea states

Cited by 17 publications

References 7 publications

Continuous Backbone “Continuum” Robot Manipulators

Continuous Backbone “Continuum” Robot Manipulators

A review of soft manipulator research, applications, and opportunities

Continuum Robots for Manipulation Applications: A Survey

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