2020
Kinematic Modeling and Trajectory Tracking Control of an Octopus-Inspired Hyper-Redundant Robot
Amir Salimi Lafmejani, Azadeh Doroudchi, Hamed Farivarnejad, Ximin He, Daniel Aukes, Matthew M. Peet +3
RA-L 2020
This letter addresses the kinematic modeling and control of hyper-redundant robots inspired by the octopus arm. We propose a discrete multi-segment model in which each segment is a 6-DoF Gough-Stewart parallel platform. Our model is novel in that it can reproduce all generic motions of an octopus ar