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Communication Dans Un Congrès Année : 2022

Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR)

Résumé

Designing and modelling bioinspired robots enables mimicking complex biomechanical process as snake swimming locomotion. Cable-driven compliant continuum robot made of separated modules was specifically designed as biology-push process to accurately reproduce snake’s locomotion. This paper aims to present the design and modelling of a bioinspired two sections Serial Continuum Robot (SCR). This latter is a hybrid snake-arm composed of two sections assembled in series as a serial standard manipulator. Each section of the snake-arm is independently actuated and consists of 2-DoF. This polyvalent design combines the advantage of flexible continuum robot and serial manipulator. Swimming snake-like robot is presented as an example of biomimetic application, where the robot is able to significantly mimic snake locomotion with a homogeneous distribution of actuators.
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Dates et versions

hal-04016722 , version 1 (06-03-2023)

Identifiants

Citer

Elie Gautreau, Juan Sandoval, Marc Arsicault, Xavier Bonnet, Saïd Zeghloul, et al.. Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR). RAAD 2022: Advances in Service and Industrial Robotics, Jun 2022, Klagenfurt, Autriche, Austria. pp.247-255, ⟨10.1007/978-3-031-04870-8_29⟩. ⟨hal-04016722⟩
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