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  • 标题:Vine-Inspired Continuum Tendril Robots and Circumnutations
  • 本地全文:下载
  • 作者:Michael B. Wooten ; Ian D. Walker
  • 期刊名称:Robotics
  • 电子版ISSN:2218-6581
  • 出版年度:2018
  • 卷号:7
  • 期号:3
  • 页码:58-73
  • DOI:10.3390/robotics7030058
  • 出版社:MDPI Publishing
  • 摘要:Smooth-backboned “continuum” robot structures offer novel ways to create robot shapes and movements. In this paper, we show how circumnutation, a motion strategy commonly employed by plants, can be implemented and usefully exploited with continuum robots. We discuss how the kinematics of circumnutation, which combines local backbone growth with periodic backbone bending, can be created using extensible continuum robot hardware. The underlying kinematics are generated by adapting kinematic models of plant growth. We illustrate the effectiveness of that approach with experimental results with a tendril-like robot exploring a congested environment.
  • 关键词:continuum; biological inspiration; kinematics continuum ; biological inspiration ; kinematics
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