Embodiment design of soft continuum robots

作者：Kang, Rongjie^*; Guglielmino, Emanuele; Zullo, Letizia; Branson, David T.; Godage, Isuru; Caldwell, Darwin G.

来源：Advances in Mechanical Engineering, 2016, 8(4): 1687814016643302.

DOI：10.1177/1687814016643302

• Embodiment design
• continuum robots
• bio-inspired control
• pneumatic muscles
• soft robotics

This article presents the results of a multidisciplinary project where mechatronic engineers worked alongside biologists to develop a soft robotic arm that captures key features of octopus anatomy and neurophysiology. The concept of embodiment (the dynamic coupling between sensory-motor control, anatomy, materials and environment that allows for the animal to achieve adaptive behaviours) is used as a starting point for the design process but tempered by current engineering technologies and approaches. In this article, the embodied design requirements are first discussed from a robotic viewpoint by taking into account real-life engineering limitations; then, the motor control schemes inspired by octopus nervous system are investigated. Finally, the mechanical and control design of a prototype is presented that appropriately blends bio-inspiration and engineering limitations. Simulated and experimental results show that the developed continuum robotic arm is able to reproduce octopus-like motions for bending, reaching and grasping.

• 出版日期2016-4
• 单位天津大学