Design and Characterization of a Modular Hybrid Continuum Robotic Manipulator
作者： Hee Doo Yang , Alan T. Asbeck
DOI: 10.1109/TMECH.2020.2993543
关键词:
摘要: We present a new design of a multi-DOF modular soft/rigid hybrid robotic manipulator that includes integrated electronics and is composed of several modules which each provide 1-2 degrees of freedom of motion. To control the robot, we present a new variant of the piece-wise constant curvature model made possible due to the geometry of the robot. Embedded inertial measurement units and pressure sensors are the sole sensors used in conjunction with the robot model to determine its kinematics. With the model, the soft robot can be …
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