Shape Control of a Hyper-Redundant Arm for Planar Object Manipulation

Jareanpon, Chatklaw; Maneewongvatana, Songrit; Maneewarn, Thavida

doi:10.1163/016918611x574669

Cited by 3 publications

(3 citation statements)

References 15 publications

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“…[1,7,8] Their skeletons are typically rigid, and electric motors (or sometimes hydraulic or pneumatic systems) provide actuation. [9,10] Muscle-a structure ubiquitous in nature-still has no real counterpart in materials science, robotics, or actuation, although there are examples of electromagnetic actuators and other useful structures (for example "air muscles") which have some muscle-like properties. [11] There are a number of approaches exploring muscle-like structures as new types of components for soft robotic, but few have been widely developed or deployed.…”

Section: Introductionmentioning

confidence: 99%

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Martínez

Fish

Chen

et al. 2012

Adv Funct Materials

552

393

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The development of soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible is described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into 3D structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while being light in weight. These soft actuators can manipulate objects with moderate performance; for example, they can lift loads up to 120 times their weight. They can also be combined with other components, for example, electrical components, to increase their functionality.

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Section: Introductionmentioning

confidence: 99%

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Martínez

Fish

Chen

et al. 2012

Adv Funct Materials

552

393

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show abstract

“…These shortcomings can be overcome by HRSR. To exploit fully to its potential capability, shape control 2 can be suggested, that is, the tip of the links of manipulator and its entire body is controlled by the fitting end of each link onto a provided time-varying curve. For shape control, the control objectives are formulated defining a contour correspondence between a hyper-redundant robot and a curve that lay down a desired shape.…”

Section: Introductionmentioning

confidence: 99%

“…15 A concept of virtual link–based controller for hyper-redundancy resolution is presented to control the tip trajectory of the in vivo robot used for surgical applications. 16 A shape control method of a hyper-redundant arm used to dock an object is proposed in Jareanpon et al 2 This is done by using whole-arm manipulation through encircling the object based on the virtual constraints on each link. Dynamics-based shape control of a hyper-redundant manipulator has been discussed in Mochiyama et al 17 Shape control provides fundamental control for whole-arm manipulation.…”

Section: Introductionmentioning

confidence: 99%

Curve-constrained collision-free trajectory control of hyper-redundant planar space robot

Dalla

Pathak

2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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Redundancy resolution in a hyper-redundant space robots is a big challenge due to its extra degrees of freedom. This article presents a methodology to control motion planning of a planar space robot with multiple links, that is, hyper-redundant space robot. For control purpose, first a curve-constrained link trajectory tracking control has been developed. Then, the developed control approach has been extended for a collision-free trajectory tracking. For curve-constrained link trajectory tracking control, the backbone reference set (curve fitting) has been applied to exploit the redundancy of two-dimensional space robot of multiple links. For kinematic control purpose, a limited number of joints are actuated. The hyper-redundant space robot has the advantage that manipulator can be configured differently through actuation of different joints. The concept of a limited number of joint actuation has further been extended for collision-free trajectory tracking in the workspace in the presence of obstacles. Collision avoidance is based on the configuration transformation approach where the joints are made active or fixed joint position to facilitate collision-free tip trajectory. Before configuration transformation, collision detection has been performed based on the pseudo-distance criterion. The bond graph technique has been used for the dynamic model of the system and to formulate system equations. The simulation and the animation results validated the successful execution of the proposed approaches for the curve-constrained collision-free trajectory planning.

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Incremental visual servo control of robotic manipulator for autonomous capture of non-cooperative target

Dong

Zhu

2016

Advanced Robotics

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Shape Control of a Hyper-Redundant Arm for Planar Object Manipulation

Cited by 3 publications

References 15 publications

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Curve-constrained collision-free trajectory control of hyper-redundant planar space robot

Incremental visual servo control of robotic manipulator for autonomous capture of non-cooperative target

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