TY - GEN
T1 - Casting and winding manipulation with hyper-flexible manipulator
AU - Suzuki, Takahiro
AU - Ebihara, Yuji
AU - Ando, Yoshinobu
AU - Mizukawa, Makoto
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=34250687057&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2006.282123
DO - 10.1109/IROS.2006.282123
M3 - Conference contribution
AN - SCOPUS:34250687057
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1674
EP - 1679
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -