Giuseppe Boccolato

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This paper presents the simulation, implementation and control problem for a class of hyper redundant manipulators – the tronconic tentacle arms. A tentacle robot changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any(More)
A continuum arm prototype was designed and implemented using two different shapes: cylinder like and cone like. This new robot is actuated by stepper motors. The rotation of these motors rotates the cables which by correlated screwing and unscrewing of their ends determine their shortening or prolonging, and by consequence, the tentacle curvature. The(More)
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