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Title: The design and kinematic representation of a soft robot in a simulation environment
Authors: Emet, Hazal
Gür, Berke
Dede, Mehmet İsmet Can
Keywords: Biomimetic robots
Novel applications of Robotics
Serial manipulator design and kinematics
Soft robots
unmanned underwater vehicles
Machine design
Publisher: Cambridge University Press
Abstract: The increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study. © 2023 The Author(s). Published by Cambridge University Press.
ISSN: 0263-5747
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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