Robostrich Arm: Wire-Driven High-DOF Underactuated Manipulator

We propose a wire-driven robotic arm inspired by the ostrich neck. It can pick up a small piece of feed from the ground while colliding with it. This arm is named robostrich arm (shortened form of robotic ostrich arm). It consists of a serial chain of 18 rigid bodies connected by free rotational joi...

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Veröffentlicht in:	Journal of robotics and mechatronics 2022-04, Vol.34 (2), p.328-338
Hauptverfasser:	Misu, Kenji, Ikeda, Masahiro, Or, Keung, Ando, Mitsuhito, Gunji, Megu, Mochiyama, Hiromi, Niiyama, Ryuma
Format:	Artikel
Sprache:	eng
Schlagworte:	3-D printers Aluminum Bones D C motors Degrees of freedom Electric motors Manipulators Muscles Neck Rigid structures Robot arms Robotics Tensioners Vertebrae Wire
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