The Elastic Rod Approach toward System Theory for Soft Robotics

被引：5
|
作者：
Mochiyama, Hiromi [1 ]
机构：
[1] Univ Tsukuba, 1-1-1 Tennoudai, Tsukuba, Ibaraki 3058573, Japan
来源：
IFAC PAPERSONLINE | 2020年 / 53卷 / 02期
关键词：
Robotics; Robots; Robot kinematics; Robot dynamics; Robot control; Robot calibration; Flexible arms; Distributed parameter systems; Discretization;
D O I：
10.1016/j.ifacol.2020.12.2169
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an approach toward system theory for soft robotics is considered. An overview of a theoretical scenario is presented by focusing on an elastic rod which is regarded as one of the most essential objects for soft mechanical elements of soft robots. The presented topics include geometry of its backbone curve, kinematics, shape, mechanics (mainly its statics), and discretization, with emphasizing on some important system properties of an elastic rod which will be useful for shape computation and stiffness identification. Copyright (C) 2020 The Authors.
引用
收藏
页码：9175 / 9180
页数：6
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