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 conferencePaperpeer-review

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.

Original languageEnglish
Pages4054-4059
Number of pages6
DOIs
Publication statusPublished - 5 Dec 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

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

Keywords

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

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