Casting and winding manipulation with hyper-flexible manipulator

Takahiro Suzuki, Yuji Ebihara, Yoshinobu Ando, Makoto Mizukawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, casting and winding manipulation of hyperflexible manipulators(HFM) is proposed. The HFM is modeled as an underactuated multi-link system connected by non-elastic passive joints, and simulation results with dynamic parameters heuristically determined corresponding to the experimental results show the validity of the proposed non-elastic model. The simulation results also correspond to the experimental ones with actuation at the base joint. Observations on the simulation results is derived to reveal a better casting actuation to succeed in winding to an object. Then, single swing actuation for winding is proposed and verified in simulations.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages1674-1679
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Suzuki, T., Ebihara, Y., Ando, Y., & Mizukawa, M. (2006). Casting and winding manipulation with hyper-flexible manipulator. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1674-1679). [4058616] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282123