title: A 3D steady-state model of a tendon-driven continuum soft manipulator inspired by the octopus arm.
abstract: Control and modelling of continuum robots are challenging tasks for robotic researchers. Most works on modelling are limited to piecewise constant curvature. In many cases they neglect to model the actuators or avoid a continuum approach. In particular, in the latter case this leads to a complex model hardly implemented. In this work, a geometrically exact steady-state model of a tendon-driven manipulator inspired by the octopus arm is presented. It takes a continuum approach, fast enough to be implemented in the control law, and includes a model of the actuation system. The model was experimentally validated and the results are reported. In conclusion, the model presented can be used as a tool for mechanical design of continuum tendon-driven manipulators, for planning control strategies or as internal model in an embedded system.
authors.affiliation: The BioRobotics Institute, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera (Pisa), Italy. f.renda@sssup.it
authors.forename: F
authors.initials: F
authors.lastname: Renda
authors.forename: M
authors.initials: M
authors.lastname: Cianchetti
authors.forename: M
authors.initials: M
authors.lastname: Giorelli
authors.forename: A
authors.initials: A
authors.lastname: Arienti
authors.forename: C
authors.initials: C
authors.lastname: Laschi
mesh_terms: D000818:Animals; D040761:Biomimetic Materials; D003198:Computer Simulation; D055119:Elastic Modulus / Q000502:physiology; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005121:Extremities / Q000502:physiology*; D008954:Models, Biological; D049831:Octopodiformes / Q000502:physiology*; D012371:Robotics / Q000295:instrumentation*; D013710:Tendons / Q000502:physiology*