A novel inflatable robot with constant and continuous volume

摘要：

Inflatable structures are already used in robotics to build stiff and light inflatable links. Moreover, those links are compliant and they can be safely used in robots interacting with critical installations. Nevertheless, until now, linkages with an inflatable structure have always been composed of independent inflatable links separated by joints. But the joints are heavier, less stiff, or less safe than the inflatable links. So in this paper, we present a new design of inflatable robots with joints having similar mechanical characteristics as the links. A first prototype, a model of the joints and some experimental validation will also be presented.

作者: S. Voisembert A. Riwan N. Mechbal A. Barraco

作者单位: CEA,LIST,Interactive Robotics Laboratory,Fontenay aux Roses,F- 92265,France and with the LCPI,EA,AMP CEA,LIST,Interactive Robotics Laboratory,Fontenay aux Roses,F- 92265,France PIMM,UMR-CNRS,AMPT 151 boulevard de lH(o)pital,75013 Paris AMPT,151 boulevard de lH(o)pital,75013 Paris

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5843-5848

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）