Forward kinematic model for continuum robotic surfaces

In this paper, we consider the modeling of robotic continuous "continuum" two-dimensional surfaces. We discuss the fundamental differences between such robot surfaces and traditional rigid link and continuum robots. We then introduce new kinematic models for continuum robotic surfaces. We...

Full description

Saved in:
Bibliographic Details
Published in2012 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3453 - 3460
Main Authors Merino, J., Threatt, A. L., Walker, I. D., Green, K. E.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2012
Subjects
Equations
Interpolation
Kinematics
Mathematical model
Muscles
Robot kinematics
Online AccessGet full text

Cover

More Information
Summary:In this paper, we consider the modeling of robotic continuous "continuum" two-dimensional surfaces. We discuss the fundamental differences between such robot surfaces and traditional rigid link and continuum robots. We then introduce new kinematic models for continuum robotic surfaces. We compare the kinematic models to physical continuum surfaces and validate their performance.
ISBN:1467317373
9781467317375
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2012.6386035