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Taking inspiration from the properties of magnetic fields, we propose a reactive navigation method for soft continuum manipulators operating in unknown environments. The proposed navigation method outperforms previous works since it is able to successfully achieve collision-free movements towards the goal in environments with convex obstacles witho...
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... mm in length with an outer diameter of 23 mm and an inner diameter of 9 mm. Three pairs of pneumatically actuated pressure chambers (4.5 mm diameter) are accommodated longitudinally in the wall. Each pair of chambers is connected to one inlet air pipe receiving regulated air pressure from a pressure regulator. The experimental setup is shown in Fig. 7. A single plane obstacle is simulated to be located in the surrounding space. Although the obstacle is simulated, its closest point is not known to the robot before it is closer to the obstacle than limit distance r l2 . Since we only employ two segments, we don't use the complete redundancy control in (24), but only the tip navigation ...
Citations
... Thus, the Jacobian matrix could be solved without dependency on preknowledge of the system model but was subject to the constraints at the small perturbation assumptions during each sampling time. The extended Kalman filter is also reported to be feasible in shape estimation [133]. Ataka et al. [134] proposed an obstacle-avoiding method. ...
Robotics has aroused huge attention since the 1950s. Irrespective of the uniqueness that industrial applications exhibit, conventional rigid robots have displayed noticeable limitations, particularly in safe cooperation as well as with environmental adaption. Accordingly, scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments. For decades, they have been committed to exploring sub-fields of soft robotics (e.g., cutting-edge techniques in design and fabrication, accurate modeling, as well as advanced control algorithms). Although scientists have made many different efforts, they share the common goal of enhancing applicability. The presented paper aims to brief the progress of soft robotic research for readers interested in this field, and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies. This paper, instead of enumerating existing modeling or control methods of a certain soft robot prototype, interprets for the relationship between morphology and morphology-dependent motion strategy, attempts to delve into the common issues in a particular class of soft robots, and elucidates a generic solution to enhance their performance.
... [149] Plant: [181] (a) (b) (c) Journal of Robotics spine [43][44][45][46][47][48][49][50][51][52][53][54][55] are aligned with metal intervertebral discs aligned at a constant distance that provide nonlinear damping characteristics, and snake [63][64][65][66][67] is constructed with cylindrical tubes connected with joints with rotational and translational degrees of freedom and mostly used for inspection through holes, as shown in Figure 3(b). To reach the model of a continuum structure, snake models [68][69][70][71] are developed that are made up of braided or shape memory alloy materials and consist of dual actuation, i.e., are cable or pneumatic driven. ...
This paper presents a literature survey documenting the evolution of continuum robots over the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect to the following three design parameters: structure, materials, and actuation. Using this three-faced prism, we identify the uniqueness and novelty of robots that have hitherto not been publicly disclosed. The motivation for this study comes from the fact that continuum soft robots can make inroads in industrial manufacturing, and their adoption will be accelerated if their key advantages over counterparts with rigid links are clear. Four different taxonomies of continuum robots are included in this study, enabling researchers to quickly identify robots of relevance to their studies. The kinematics and dynamics of these robots are not covered, nor is their application in surgical manipulation.
... Various techniques for the kinematic and dynamic control of soft robotic manipulators have been developed as reported in [16]. Obstacle avoidance for soft or continuum manipulator has also been reported in recent publications [17], [18], [19]. However, none of these works considers the stiffness variation of the robot structure. ...
Plant-inspired inflatable eversion robots with their tip growing behaviour have recently emerged. Because they extend from the tip, eversion robots are particularly suitable for applications that require reaching into remote places through narrow openings. Besides, they can vary their structural stiffness. Despite these essential properties which make the eversion robot a promising candidate for applications involving cluttered environments and tight spaces, controlling their motion especially laterally has not been investigated in depth. In this paper, we present a new approach based on model-based kinematics to control the eversion robot's tip position and orientation. Our control approach is based on Euler-Bernoulli beam theory which takes into account the effect of the internal inflation pressure to model each robot bending segment for various conditions of structural stiffness. We determined the parameters of our bending model by performing a least-square technique based on the pressure-bending data acquired from an experimental study. The model is then used to develop a pose controller for the tip of our eversion robot. Experimental results show that the proposed control strategy is capable of guiding the tip of the eversion robot to reach a desired position and orientation whilst varying its structural stiffness.
... This could lead to a problem in a real scenario, where the size of the quadcopter becomes important. Taking inspiration from the behaviour of a pair of current-carrying wires as described in Section II, a collision-avoidance vector field F a introduced in our previous work [18] is employed. Besides the artificial current l o in (11), the robot also induces another artificial current l o⊥ which is exactly the same as the current in (11), but in the opposite direction as depicted in Fig. 3. ...
In this paper, a magnetic-field-inspired robot navigation is used to navigate an under-actuated quad-copter towards the desired position amidst previously-unknown arbitrary-shaped convex obstacles. Taking inspiration from the phenomena of magnetic field interaction with charged particles observed in nature, the algorithm outperforms previous reactive navigation algorithms for flying robots found in the literature as it is able to reactively generate motion commands relying only on a local sensory information without prior knowledge of the obstacles' shape or location and without getting trapped in local minima configurations. The application of the algorithm in a dynamic model of quadcopter system and in the realistic model of the commercial AscTec Pelican micro-aerial vehicle confirm the superior performance of the algorithm.
