遥感与地理信息系统学报

抽象的

Continuum robot trunks and tentacles

Ian D Walker

This talk will provide an overview of research in biologically inspired continuous backbone “trunk and tentacle” continuum robots. Continuum robots are an emerging form of robot structure, featuring smooth backbones. These structures can be formed using a variety of materials and actuation techniques. Often inspired by structures in biology including the trunks of elephants and the arms of octopuses, these robots are inherently compliant. This allows them to adapt to their environments and to penetrate congested spaces where traditional robots cannot. Continuum robots have found application in a variety of medical procedures. However, their modeling, sensing and control present novel, interesting and significant challenges. In the talk, continuum robots inspired by octopus arms and plants (vines) will be discussed. Use of these robots for novel inspection and manipulation operations, targeted towards Spacebased operations, will be discussed.