Closed-Form Equations and Experimental Verification for Soft Robot Arm Based on Cosserat Theory
Lizhou Niu, Liang Ding, Haibo Gao, Yang Su, Zongquan Deng, Zhen Liu
Abstract
Compared with conventional robots, soft structures such as living octopus arms and various soft-robot arms have more degrees of freedom (DOFs) and greater flexibility. Soft robot arms have a considerable range of applications. However, it is arduous to establish a mechanical model for them, because of the hyper-redundant DOFs, and the hyperelasticity and nonlinearity of the soft material. In this study, to investigate the deformation of soft octopus robot arms, the simplified closed-form analytical equations for the curvature and torsion were derived according to the Cosserat theory. A closed-form model for axial constriction was developed. The analytical equations were experimentally validated, and a dynamical simulation of the multi-flexible bodies was performed for a cable-driven soft-robot arm inspired by the octopus. The results show satisfactory accuracy.
BibTeX
@inproceedings{iros2019_closedformequati,
title = {Closed-Form Equations and Experimental Verification for Soft Robot Arm Based on Cosserat Theory},
author = {Lizhou Niu and Liang Ding and Haibo Gao and Yang Su and Zongquan Deng and Zhen Liu},
booktitle = {IROS 2019},
year = {2019}
}