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Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model

Stilli, A; Kolokotronis, E; Fras, J; Ataka, A; Althoefer, K; Wurdemann, HA; (2018) Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (pp. pp. 6959-6964). IEEE Green open access

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Abstract

Soft robotic structures might play a major role in the 4th industrial revolution. Researchers have successfully demonstrated advantages of soft robotics over traditional robots made of rigid links and joints in several application areas including manufacturing, healthcare and surgical interventions. However, soft robots have limited ability to exert higher forces when it comes to interaction with the environment, hence, change their stiffness on demand over a wide range. One stiffness mechanism embodies tendon-driven and pneumatic air actuation in an antagonistic way achieving variable stiffness values. In this paper, we apply a beammechanics-based model to this type of soft stiffness controllable robot. This mathematical model takes into account the various stiffness levels of the soft robotic manipulator as well as interaction forces with the environment at the tip of the manipulator. The analytical model is implemented into a robotic actuation system made of motorised linear rails with load cells (obtaining applied forces to the tendons) and a pressure regulator. Here, we present and analyse the performance and limitations of our model.

Type: Proceedings paper
Title: Static Kinematics for an Antagonistically Actuated Robot Based on a Beam-Mechanics-Based Model
Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1-5 October 2018, Madrid, Spain
Dates: 01 October 2018 - 05 October 2018
ISBN-13: 978-1-5386-8094-0
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/IROS.2018.8593674
Publisher version: https://doi.org/10.1109/IROS.2018.8593674
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10055221
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