Modelling of multisection bionic manipulator: Application to RobotinoXT

Escande, Coralie; Pathak, Pushparaj Mani; Merzouki, Rochdi; Coelen, Vincent

doi:10.1109/robio.2011.6181268

Cited by 22 publications

(20 citation statements)

References 12 publications

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“…ese trunks consist of multiple segments with dual actuation, i.e., electric motor and pneumatic [21][22][23][24][25][26][27][28]. In the current research scenario, the third-generation continuum robot, which is known as the bionic handling assistant (BHA) model developed by Festo [29][30][31], has entered the production environment. is is an advanced prototype that is constructed using the concepts of lightweight design and possesses the capability to operate with increased flexibility.…”

Section: Structurementioning

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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Section: Structurementioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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“…Using the Denavit-Hartenberg approach, one can derive the kinematic model of the backbone. This approach is the most common in the literature related to kinematic modeling of continuum manipulators and has been used to model different types of robots [33] [34] [35]. Nevertheless, this approach is entirely geometric-based and does not capture the mechanics of the material from which the robot is constructed and limits these models in scenarios where the robot is carrying a payload and the effects of gravity are not trivial.…”

Section: Modeling Soft Robotsmentioning

confidence: 99%

Software toolkit for modeling, simulation, and control of soft robots

et al. 2017

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“…The knowledge of the workspace allows identifying the desired position from a set of reachable positions. The exact determination of the workspace can be done in the case of the studied CBHA, using the forward kinematic model (FKM) presented in [11], [15], after the calculation of the variation of the tube lengths in function of the input tube pressures. When, the tube length variation ∆l i, j is identified experimentally, then, the FKM, given in equation (1), is used to calculate the Cartesian position Ω of the tip of the arm.…”

Section: Workpace Identificationmentioning

confidence: 99%

Inverse Kinematic modeling of a class of continuum bionic handling arm

Lakhal¹,

Melingui²,

Chibani³

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper presents a development of Inverse Kinematic Model (IKM) of a class of Continuum Bionic Handling Arm (CBHA). The modeling approach is inspired from a model of a hyper-redundant backbone-based manipulator, combined with an optimal placement of the backbones. The latter is obtained using an optimization algorithm, based on a Sequential Quadratic Program (SQP). The main interest of developing such model is to design an autonomous control of the CBHA. The high number of Degrees of Freedom (DoF) present on the continuum structure of the CBHA, makes difficult the synthesis of the analytical IKM for the overall arm. To resolve this issue, it is proposed to assimilate the CBHA's behavior to that of a hyper-redundant robot manipulator. This robot is represented by a concatenation of hybrid (parallel and serial) vertebrae along the vertebral column or backbones of the CBHA. The combination of all these vertebra allows the reconstruction with optimal configuration of the real posture of the continuum arm inside its workspace, with only the knowledge of the Cartesian coordinates of the robot pose. Simulations and experimental validation of the model demonstrate the efficiency of the modeling approach for this class of CBHA.

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Modelling of multisection bionic manipulator: Application to RobotinoXT

Cited by 22 publications

References 12 publications

Continuum Robots for Manipulation Applications: A Survey

Continuum Robots for Manipulation Applications: A Survey

Software toolkit for modeling, simulation, and control of soft robots

Inverse Kinematic modeling of a class of continuum bionic handling arm

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