A 3D Dynamic Model for Continuum Robots Inspired by An Octopus Arm

被引：0
|
作者：
Zheng, Tianjiang [1 ]
Branson, David T. [1 ]
Guglielmino, Emanuele [1 ]
Caldwell, Darwin G. [1 ]
机构：
[1] Italian Inst Technol, I-16163 Genoa, Italy
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年
关键词：
BIOMECHANICS; MANIPULATOR;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Continuum robotic arms are based on non-rigid components that result in a nearly infinite number of degrees of freedom (DOF). Due to this reason it can be very complex to establish mathematical models for continuum robotic arms. This paper presents a 3D dynamic model of an arm based on octopus anatomy that utilizes 4 longitudinal and 4 radial muscles. The arm is composed of a multi-segment structure having distributed stiffness and damping to represent the muscles. The simulations are applied to a multi-segment arm, and results mimic several typical octopus arm motions.
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页数：6
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