Towards Continuum Robotics: A Preliminary Curve Fitting Approach for Modular Self-Reconfigurable Robots
Hyper-redundant,self-reconfigurable,and continuum robotics are promoting development of robotics towards artificial flexible manipulator in bio-inspired approach.In despite of this diversity in structure,each type of robots play a remarkable role by their own features.In this paper,we explore a curve fitting approach to make the modular robots work towards a continuum robot.In an equally segmented planar curve,we using a modeling approach to obtain transformation relationship between each segment.Therefore,this form of modeling are general to both rigid modular robots and soft modular robots.At last,we perform two experiments to demonstrate the fitting case of rigid robots and soft robots.The paper concludes with our future research of continuum robotics including rigid modular or soft continuum robots.
self-reconfigurable soft robots continuum robots
Haiyuan Li Tianmiao Wang Cai Meng Zhenxi Gao Yani Zhang Weidong Xu
School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China School of Astronautics,Beihang University,Beijing 100191,China
国际会议
天津
英文
1-5
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）