运动学
机器人
软机器人
遥操作
计算机科学
海底
常曲率
控制工程
分段
模拟
人工智能
工程类
曲率
海洋工程
数学
几何学
数学分析
物理
经典力学
作者
Hazal Emet,Berke M. Gur,Mehmet İsmet Can Dede
出处
期刊:Robotica
[Cambridge University Press]
日期:2023-11-13
卷期号:42 (1): 139-152
被引量:1
标识
DOI:10.1017/s026357472300139x
摘要
Abstract The increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study.
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