TY - GEN
T1 - Closed-Form Equations and Experimental Verification for Soft Robot Arm Based on Cosserat Theory∗
AU - Niu, Lizhou
AU - Ding, Liang
AU - Gao, Haibo
AU - Su, Yang
AU - Deng, Zongquan
AU - Liu, Zhen
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - Compared with conventional robots, soft structures such as living octopus arms and various soft-robot arms have more degrees of freedom (DOFs) and greater flexibility. Soft robot arms have a considerable range of applications. However, it is arduous to establish a mechanical model for them, because of the hyper-redundant DOFs, and the hyperelasticity and nonlinearity of the soft material. In this study, to investigate the deformation of soft octopus robot arms, the simplified closed-form analytical equations for the curvature and torsion were derived according to the Cosserat theory. A closed-form model for axial constriction was developed. The analytical equations were experimentally validated, and a dynamical simulation of the multi-flexible bodies was performed for a cable-driven soft-robot arm inspired by the octopus. The results show satisfactory accuracy.
AB - Compared with conventional robots, soft structures such as living octopus arms and various soft-robot arms have more degrees of freedom (DOFs) and greater flexibility. Soft robot arms have a considerable range of applications. However, it is arduous to establish a mechanical model for them, because of the hyper-redundant DOFs, and the hyperelasticity and nonlinearity of the soft material. In this study, to investigate the deformation of soft octopus robot arms, the simplified closed-form analytical equations for the curvature and torsion were derived according to the Cosserat theory. A closed-form model for axial constriction was developed. The analytical equations were experimentally validated, and a dynamical simulation of the multi-flexible bodies was performed for a cable-driven soft-robot arm inspired by the octopus. The results show satisfactory accuracy.
UR - https://www.scopus.com/pages/publications/85081159670
U2 - 10.1109/IROS40897.2019.8968477
DO - 10.1109/IROS40897.2019.8968477
M3 - 会议稿件
AN - SCOPUS:85081159670
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6630
EP - 6635
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -