Kinematic Modeling and Trajectory Tracking Control of an Octopus-Inspired Hyper-Redundant Robot

This letter addresses the kinematic modeling and control of hyper-redundant robots inspired by the octopus arm. We propose a discrete multi-segment model in which each segment is a 6-DoF Gough-Stewart parallel platform. Our model is novel in that it can reproduce all generic motions of an octopus ar...

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Veröffentlicht in:	IEEE robotics and automation letters 2020-04, Vol.5 (2), p.3459-3466
Hauptverfasser:	Lafmejani, Amir Salimi, Doroudchi, Azadeh, Farivarnejad, Hamed, He, Ximin, Aukes, Daniel, Peet, Matthew M., Marvi, Hamidreza, Fisher, Rebecca E., Berman, Spring
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer simulation Control systems design Controllers Elongation Inverse kinematics Jacobian matrices Kinematics Manipulators motion and path planning Motion segmentation Nervous system Numerical methods Parallel degrees of freedom parallel robots Redundancy Redundant robots Robot control Robot sensing systems Robots Tracking control Tracks (paths) Trajectory analysis Trajectory control Twisting underactuated robots
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