A multisegment Electro-Active Polymer based milli-Continuum Soft Robots
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | A multisegment Electro-Active Polymer based milli-Continuum Soft Robots |
| Type de publication | Conference Paper |
| Year of Publication | 2018 |
| Auteurs | Benouhiba A., Rabenorosoa K., Rougeot P., Ouisse M., Andreff N. |
| Editor | Maciejewski AA, Okamura A, Bicchi A, Stachniss C, Song DZ, Lee DH, Chaumette F, Ding H, Li JS, Wen J, Roberts J, Masamune K, Chong NY, Amato N, Tsagwarakis N, Rocco P, Asfour T, Chung WK, Yasuyoshi Y, Sun Y, Maciekeski T, Althoefer K, AndradeCetto J, Chung WK, Demircan E, Dias J, Fraisse P, Gross R, Harada H, Hasegawa Y, Hayashibe M, Kiguchi K, Kim K, Kroeger T, Li Y, Ma S, Mochiyama H, Monje CA, Rekleitis I, Roberts R, Stulp F, Tsai CHD, Zollo L |
| Conference Name | 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
| Publisher | IEEE Robot & Automat Soc; IEEE Ind Elect Soc; Robot Soc Japan; Soc Instrument & Control Engineers; New Technol Fdn; IEEE; Adept MobileRobots; Willow Garage; Aldebaran Robot; Natl Instruments; Reflexxes GmbH; Schunk Intec S L U; Univ Carlos III Madrid; BOS |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-5386-8094-0 |
| Résumé | This paper presents the design, modeling and fabrication of a millimeter-size Continuum Soft Robot (CSR). The robot consists of active flexible polymer actuator-based multisegment robot. A multiphysics model based on multilayer cantilever for large displacement is established between the input voltages to the distal tip position of a single segment robot. The extension of the model to multisegment CSR is derived. The proposed model is validated experimentally then a two-segment CSR and three-segment CSR in 3D arrangement are investigated, demonstrating the model efficiency for obtaining complex configuration. Moreover, various configurations can be explored to derive complex kinematics then increasing the robot capability. |