Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
An electricity-free snake-like propulsion mechanism driven and controlled by fluids
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Modeling for dynamics of rigid-body systems with friction by linear complementary problem (LCP)
Computers & Mathematics with Applications
Runge-Kutta pairs of order 5(4) satisfying only the first column simplifying assumption
Computers & Mathematics with Applications
Left time derivatives in mathematics, mechanics and control of motion
Computers & Mathematics with Applications
Kinematics for multisection continuum robots
IEEE Transactions on Robotics
Mechanics Modeling of Tendon-Driven Continuum Manipulators
IEEE Transactions on Robotics
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This paper proposes a dynamic model for a multiple continuum arm robot inspired by live octopuses. The kinematics and dynamics for a single arm are analyzed and formulated including the longitudinal muscles, radial muscles, isovolumetric constraints, and interaction between suckers and an object. The single arm model is then expanded to a multiple arm system that is capable of generating archetypal locomotion patterns such as crawling and swimming. A hierarchical controller based on octopus neurophysiology is used to achieve simple and reliable control of the multiple continuum arm system. Simulations for single arm movements and multiple arm locomotions are presented. The results of this work can be used in the study of control schemes for multiple continuum arm robots and live octopuses.