[Updated on Apr. 18] Integration of CiNii Articles into CiNii Research

Pneumatic Soft Manipulator with Curvature Derivative Control

Bibliographic Information

Other Title
  • 曲率微分制御による流体駆動柔軟マニピュレータ

Abstract

<p>In this paper, we develop a snake like fluid driven manipulator with curvature derivative control. With this control, the manipulator progresses forward when the lateral movement is constrained, otherwise every joints goes to be equal to a tip joint and the manipulator behaves like a elephant trunk. We propose a mechanism which reproduces a curvilinearly lateral undulation of snakes in 3 dimensions. In the manipulator, each joint is controlled by bellows actuation in response to slide valve in each link of snake body. We developed a prototype of the mechanism and experimented the performance of the prototype.</p>

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