Modelling of multisection bionic manipulator: Application to RobotinoXT

Author

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

Author_Institution

LAGIS FRE, Polytech´´Lille, Villeneuve-d´´Ascq, France

fYear

2011

Firstpage

92

Lastpage

97

Abstract

This paper deals with geometric models of a class of multisection bionic manipulator applied to RobotinoXT. This bio-inspired flexible manipulator is a small version of a multisection pneumatically actuated, called Bionic Handling Assistant robot (BHA), where each segment is composed by a set of backbones tubes. Experimental results are presented to compare the analytical and practical analysis. These models are the first steps to synthesis of kinematic and dynamic model of this class of bionic manipulator, which will be used to design an adequate control for the whole robot.

Keywords

biocybernetics; flexible manipulators; bio inspired flexible manipulator; bionic handling assistant robot; dynamic model; geometric models; kinematic model; multisection bionic manipulator; multisection pneumatically actuated; Biological system modeling; Electron tubes; Equations; Manipulators; Mathematical model; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Conference_Location

Karon Beach, Phuket

Print_ISBN

978-1-4577-2136-6

Type

conf

DOI

10.1109/ROBIO.2011.6181268

Filename

6181268