Bio-Inspired Dynamic Model for a Reconfigurable Multiple Continuum Arm Robot

摘要：

This paper proposes a dynamic model utilizing continuum arms to form a reconfigurable robotic system. The continuum arms are composed of seriallylinked parallel mechanisms inspired by octopus arm anatomy. The kinematics and dynamics for a single continuum arm are formulated and then expanded to a multiple arm system using a modular modeling method. Simulation results show that this robotic system is capable of diverse locomotion patterns by changing the configuration of the arms.

关键词： Reconfigurable robot Continuum arm Parallel mechanism Locomotion

作者: Rongjie Kang David T. Branson Emanuele Guglielmino Darwin G. Caldwell

作者单位: Department of Advanced Robotics, Istituto Italiano di Tecnologia,Via Morego 30, 16163 Genoa, Italy Department of Advanced Robotics,Istituto Italiano di Tecnologia,Via Morego 30, 16163 Genoa, Italy

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 423-432

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）