Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots

Continuum and soft robots can leverage complex actuator shapes to take onuseful shapes while actuating only a few of their many degrees of freedom. Continuum robotsthat alsogrow increasethe range of potential shapes that can be actuated and enable easier access to constrained environments. Existing...

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Veröffentlicht in:	IEEE transactions on robotics 2022-06, Vol.38 (3), p.1820-1840
Hauptverfasser:	Blumenschein, Laura H., Koehler, Margaret, Usevitch, Nathan S., Hawkes, Elliot Wright, Rucker, D. Caleb, Okamura, Allison M.
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuation Actuators Design Electron tubes Environment models Growing robots Inverse design Kinematics Pneumatic systems Robots Shape soft robot materials and design Soft robotics soft sensors and actuators Stress-strain relationships Tendons
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