Paper Info
Title
Continuum worm-like robotic mechanism with decentral control architecture
Abstract
Flexible continuum robots are utilized for operational areas, in which discretely structured robots are not suitable due to their kinematic limitations. Continuum mechanisms feature adaptiveness, which is a prerequisite for constrained spaces. Furthermore, such robots can be integrated within human-robot interaction scenarios. The crucial contribution of this work is a novel intrinsic continuum worm-like robot based on a modular and decentral control architecture. It is actuated by pneumatic artificial muscles (PAMs), which result in an inherently compliant robotic system. To realize the modularity, the setup deploys a central air supply that feeds locally arranged valve cluster units, which are connected with short stub lines. Keeping the supply tubes between the valves and the PAMs short, guarantees a very direct control with good precision. This paper presents an implementation of a continuum robot with four segments comprising twelve degrees of freedom.
Year
DOI
Venue
2014
10.1109/CoASE.2014.6899427
Automation Science and Engineering
Keywords
Field
DocType
continuum mechanics,decentralised control,electroactive polymer actuators,flexible manipulators,manipulator kinematics,PAM,cluster units,compliant robotic system,constrained spaces,continuum mechanisms,decentral control architecture,flexible continuum robots,human-robot interaction scenarios,intrinsic continuum worm-like robotic mechanism,modular control architecture,pneumatic artificial muscles,stub lines
Stub (electronics),Architecture,Kinematics,Continuum (design consultancy),Control engineering,Pneumatic artificial muscles,Modular design,Engineering,Robot,Modularity
Conference
Citations 
PageRank 
References 
1
0.37
9
Authors
4
Name
Order
Citations
PageRank
Martin Eder141.87
Maximilian Karl292.40
Alois Knoll Knoll31700271.32
Stefan Riesner410.37