Large deflection dynamics and control for planar continuum robots

By I. Gravagne, Christopher D. Rahn, Ian D. Walker. 2001

351 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Mechanical Engineering, Ocean Engineering

View Paper: https://www.semanticscholar.org/paper/888e39d781524540984614b75d0397cc755da680

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In Biomedical Engineering

In Mechanical Engineering

In Ocean Engineering

Citations in the corpus

Continuum Robots for Medical Applications: A Survey (2015, methodology): “Continuum manipulator dynamics have been approached by the principle of virtual power in a lumped-parameter, constantcurvature model [102], [117], and by a Lagrangian approach for planar robots in [118] and [119] and spatial robots in [120] and [121].”
Design, kinematics, and control of a soft spatial fluidic elastomer manipulator (2016, methodology): “In addition, Gravagne et al. (2003) and Gravagne and Walker (2002) model and control the Clemson Tentacle Manipulator, a hard continuum manipulator.”
Control Strategies for Soft Robotic Manipulators: A Survey (2018, neutral): “Moreover, some dynamic properties/disturbances are inherently uncontrollable due to their underactuated nature.(14) Development of reliable parameter estimation algorithms and accurate sensory information is also crucial.”
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading (2011, background): “provide a comprehensive energy-based model for the statics and dynamics of a planar continuum robot with in-plane loads [12], [18], [19].”
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots (2010, neutral): “tor and control its vibration [10].”
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review (2010, background): “The dynamic equations of continuum robots under various assumptions have been derived in the planar case [33, 95] and derivations based on an energy-work relationship [45], conservation laws [19], and a Newtonian formulation of Cosserat rods [98] exist.”
Kinematics for multisection continuum robots (2006, background): “Continuum robots also enable novel forms of environmental interaction, via compliant and/or whole-arm manipulation [13].”
Geometrically Exact Models for Soft Robotic Manipulators (2008, background): “Gravagne et al. [26] studied large deflection dynamics for planar continuum robots including the effects of actuator torques but without distributed loading.”
Field trials and testing of the OctArm continuum manipulator (2006, background): “Previous research in the development of continuum robots [4] used cable-tendon [1], [3], [7], [8] and pressurized tube [18], [19] actuators.”
Mechanics Modeling of Tendon-Driven Continuum Manipulators (2008, background): “Combining tendon actuation and flexible beam dynamics, Gravagne and Walker studied the Clemson tentacle manipulator for tension-controlled vibration damping [9].”
Continuous Backbone “ Continuum ” Robot Manipulators : A Review (2013, neutral): “…hardware in the 1990s centered in two directions: (1) extension of the original tendon-driven design concepts of Anderson/Horn and Hirose aimed at practical implementation [7, 8] and applications [9–11] and (2) the new innovation of creating backbones with pneumatically actuated chambers [12–14].”