Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications

Rongjie Kang, Asimina Kazakidi, Emanuele Guglielmino, David T. Branson, Dimitris P. Tsakiris, John A. Ekaterinaris, Darwin G. Caldwell

Research output: Contribution to conferencePaper

31 Citations (Scopus)

Abstract

The octopus arm is a unique tool that combines strength and flexibility. It can shorten, elongate and bend at any point along its length. To model this behavior, a hyper-redundant manipulator composed of multiple segments is proposed. Each segment is a parallel robotic mechanism with redundant actuation. The kinematics and dynamics of this manipulator are analyzed and simulated utilizing a modular computational modeling method. Simulation results for some primitive movements are presented, and the effect of hydrodynamic forces is included.

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period25/09/1130/09/11

Fingerprint

Redundant manipulators
Manipulators
Dynamic models
Kinematics
Robotics
Hydrodynamics

Keywords

  • force
  • mathematical model
  • manipulator dynamics
  • joints
  • equations
  • pistons
  • underwater vehicles
  • flexible manipulators
  • octopus-like manipulator

Cite this

Kang, R., Kazakidi, A., Guglielmino, E., Branson, D. T., Tsakiris, D. P., Ekaterinaris, J. A., & Caldwell, D. G. (2011). Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications. 4054-4059. Paper presented at 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States. https://doi.org/10.1109/IROS.2011.6094468
Kang, Rongjie ; Kazakidi, Asimina ; Guglielmino, Emanuele ; Branson, David T. ; Tsakiris, Dimitris P. ; Ekaterinaris, John A. ; Caldwell, Darwin G. / Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications. Paper presented at 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States.6 p.
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abstract = "The octopus arm is a unique tool that combines strength and flexibility. It can shorten, elongate and bend at any point along its length. To model this behavior, a hyper-redundant manipulator composed of multiple segments is proposed. Each segment is a parallel robotic mechanism with redundant actuation. The kinematics and dynamics of this manipulator are analyzed and simulated utilizing a modular computational modeling method. Simulation results for some primitive movements are presented, and the effect of hydrodynamic forces is included.",
keywords = "force, mathematical model, manipulator dynamics, joints, equations, pistons, underwater vehicles, flexible manipulators, octopus-like manipulator",
author = "Rongjie Kang and Asimina Kazakidi and Emanuele Guglielmino and Branson, {David T.} and Tsakiris, {Dimitris P.} and Ekaterinaris, {John A.} and Caldwell, {Darwin G.}",
year = "2011",
month = "12",
day = "5",
doi = "10.1109/IROS.2011.6094468",
language = "English",
pages = "4054--4059",
note = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 ; Conference date: 25-09-2011 Through 30-09-2011",

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Kang, R, Kazakidi, A, Guglielmino, E, Branson, DT, Tsakiris, DP, Ekaterinaris, JA & Caldwell, DG 2011, 'Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications' Paper presented at 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 25/09/11 - 30/09/11, pp. 4054-4059. https://doi.org/10.1109/IROS.2011.6094468

Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications. / Kang, Rongjie; Kazakidi, Asimina; Guglielmino, Emanuele; Branson, David T.; Tsakiris, Dimitris P.; Ekaterinaris, John A.; Caldwell, Darwin G.

2011. 4054-4059 Paper presented at 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States.

Research output: Contribution to conferencePaper

TY - CONF

T1 - Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications

AU - Kang, Rongjie

AU - Kazakidi, Asimina

AU - Guglielmino, Emanuele

AU - Branson, David T.

AU - Tsakiris, Dimitris P.

AU - Ekaterinaris, John A.

AU - Caldwell, Darwin G.

PY - 2011/12/5

Y1 - 2011/12/5

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KW - mathematical model

KW - manipulator dynamics

KW - joints

KW - equations

KW - pistons

KW - underwater vehicles

KW - flexible manipulators

KW - octopus-like manipulator

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Kang R, Kazakidi A, Guglielmino E, Branson DT, Tsakiris DP, Ekaterinaris JA et al. Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications. 2011. Paper presented at 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States. https://doi.org/10.1109/IROS.2011.6094468