Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures.

@article{Kang2013DesignMA,
  title={Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures.},
  author={Rongjie Kang and David T. Branson and Tianjiang Zheng and Emanuele Guglielmino and Darwin G. Caldwell},
  journal={Bioinspiration & biomimetics},
  year={2013},
  volume={8 3},
  pages={036008}
}
Biological tentacles, such as octopus arms, have entirely flexible structures and virtually infinite degrees of freedom (DOF) that allow for elongation, shortening and bending at any point along the arm length. The amazing dexterity of biological tentacles has driven the growing implementation of continuum manipulators in robotic systems. This paper presents a pneumatic manipulator inspired by biological continuum structures in some of their key features and functions, such as continuum… CONTINUE READING
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