Dynamic continuum arm model for use with underwater robotic manipulators inspired by octopus vulgaris

Author

Zheng, Tianjiang ; Branson, David T., III ; Kang, Rongjie ; Cianchetti, Matteo ; Guglielmino, Emanuele ; Follador, Maurizio ; Medrano-Cerda, Gustavo A. ; Godage, Isuru S. ; Caldwell, Darwin G.

Author_Institution

Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy

fYear

2012

fDate

14-18 May 2012

Firstpage

5289

Lastpage

5294

Abstract

Continuum structures with a very high or infinite number of degrees of freedom (DOF) are very interesting structures in nature. Mimicking this kind of structures artificially is challenging due to the high number of required DOF. This paper presents a kinematic and dynamic model for an underwater robotic manipulator inspired by Octopus vulgaris. Then, a prototype arm inspired by live octopus is presented and the model validated experimentally. Initial comparisons of simulated and experimental results show good agreement.

Keywords

manipulator dynamics; manipulator kinematics; mobile robots; underwater vehicles; continuum structures; degrees-of-freedom; dynamic continuum arm model; dynamic model; kinematic model; octopus vulgaris; underwater robotic manipulators; Actuators; Dynamics; Force; Kinematics; Mathematical model; Prototypes; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Conference_Location

Saint Paul, MN

ISSN

1050-4729

Print_ISBN

978-1-4673-1403-9

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ICRA.2012.6224685

Filename

6224685