Design

This project consists of the development of a soft manipulator based on antagonistic actuation capable of bending and extension with a certain degree of stiffness control. It makes use of a hybrid actuation system composed of pneumatic and tendon-based actuators.

This section presents the design of each part that compose the robot, while providing the operation principles that led to that particular design.

Bibliography

Robinson et al. (1999) Continuum robots-a state of the art

Walker et al. (2013) Continuous backbone “continuum” robot manipulators

McMahan et al. (2005) Design and implementation of a multi-section continuum robot: Air-Octor

Neppalli et al. (2007) Design, construction, and analysis of a continuum robot

Bosman et al. (2015) Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras

Duriez, et al. (2008) Contact skinning

Duriez et al. (2013) Control of elastic soft robots based on real-time finite element method

Contributors

Thor Bieze

Frédérick Largillière

Sandra Hage Chehade

Mario Sanz Lopez

Christian Duriez