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

doi:10.1109/IROS.2011.6094468

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

^*Corresponding author for this work

Biomedical Engineering

Research output: Contribution to conference › Paper › peer-review

72 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 language	English
Pages	4054-4059
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2011.6094468
Publication status	Published - 5 Dec 2011
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: 25 Sept 2011 → 30 Sept 2011

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/Territory	United States
City	San Francisco, CA
Period	25/09/11 → 30/09/11

Keywords

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

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10.1109/IROS.2011.6094468

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

@conference{c61e4f05a70d49c298bd2a84c7939ea2,

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

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 = dec,

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",

}

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 et al.
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 conference › Paper › peer-review

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

N2 - 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.

AB - 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.

KW - force

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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T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11

Y2 - 25 September 2011 through 30 September 2011

ER -

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. doi: 10.1109/IROS.2011.6094468

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

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