Continuum Robots: From Conventional to Customized Performance Indicators - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Biomimetics Année : 2023

Continuum Robots: From Conventional to Customized Performance Indicators

Résumé

Continuum robots have often been compared with rigid-link designs through conventional performance metrics (e.g., precision and Jacobian-based indicators). However, these metrics were developed to suit rigid-link robots and are tuned to capture specific facets of performance, in which continuum robots do not excel. Furthermore, conventional metrics either fail to capture the key advantages of continuum designs, such as their capability to operate in complex environments thanks to their slender shape and flexibility, or see them as detrimental (e.g., compliance). Previous work has rarely addressed this issue, and never in a systematic way. Therefore, this paper discusses the facets of a continuum robot performance that cannot be characterized by existing indicator and aims at defining a tailored framework of geometrical specifications and kinetostatic indicators. The proposed framework combines the geometric requirements dictated by the target environment and a methodology to obtain bioinspired reference metrics from a biological equivalent of the continuum robot (e.g., a snake, a tentacle, or a trunk). A numerical example is then reported for a swimming snake robot use case.
Fichier principal
Vignette du fichier
biomimetics-08-00147-v2.pdf (1.9 Mo) Télécharger le fichier
Origine : Publication financée par une institution
Licence : CC BY - Paternité

Dates et versions

hal-04060431 , version 1 (18-02-2024)

Licence

Paternité

Identifiants

Citer

Matteo Russo, Elie Gautreau, Xavier Bonnet, Med Amine Laribi. Continuum Robots: From Conventional to Customized Performance Indicators. Biomimetics, 2023, 8 (2), pp.147. ⟨10.3390/biomimetics8020147⟩. ⟨hal-04060431⟩
43 Consultations
9 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More