Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots
Brian H. Do,
Valory Banashek,
Allison M. Okamura
Abstract:Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely tight local curvature at difficult-to-control buckle point locations. In this paper, we present an inflated beam robot that uses distributed stiffness changing sections enabled by positive pressure layer jamming to control or prevent buckling. Passive valves are actuated by … Show more
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