Interacting with Obstacles Using a Bio-Inspired, Flexible, Underactuated Multilink Manipulator
Amit Prigozin,
Amir Degani
Abstract:With the increasing demand for robotic manipulators to operate in complex environments, it is important to develop designs that work in obstacle-rich environments and can navigate around obstacles. This paper aims to demonstrate the capabilities of a bio-inspired, underactuated multilink manipulator in environments with fixed and/or movable obstacles. To simplify the system design, a single rotational actuator is used at the base of the manipulator. We present a modeling method for flexible, multilink underact… Show more
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