Field Experiments with the OctArm Continuum Manipulator

In contrast to traditional robotic manipulators composed of rigid links, a continuum manipulator is a long, continuously flexible extremity that grasps objects usingthe entire length of the trunk. OctArm, a three-section continuum manipulator composed of 9 McKibben actuators, was mounted on tracked...

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Bibliographic Details
Published in2006 IEEE/RSJ International Conference on Intelligent Robots and Systems p. 10
Main Authors Holbrook, B., Csencsits, M., McMahan, W., Chitrakaran, V., Grissom, M., Pritts, M., Jones, B., Rahn, C., Walker, I.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2006
Subjects
Actuators
Extremities
Laboratories
Legged locomotion
Manipulator dynamics
Robot sensing systems
Robotic assembly
Shape
Solids
Switches
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Summary:In contrast to traditional robotic manipulators composed of rigid links, a continuum manipulator is a long, continuously flexible extremity that grasps objects usingthe entire length of the trunk. OctArm, a three-section continuum manipulator composed of 9 McKibben actuators, was mounted on tracked mobile platform and teleoperated in a series of field and laboratory experiments. Results from these experiments show its ability to grasp objects of many shapes and sizes, retain a solid hold despite vibration or changes in acceleration, cradle fragile objects reliably, and operate in extreme environments. This robust featureset shows the usefulness and strong potential of these manipulators.
ISBN:9781424402588
1424402581
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2006.282305