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A Geometry Deformation Model for Compound Continuum Manipulators with External Loading

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781467380263
Accepted/In pressApr 2016
Published8 Jun 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: 16 May 201621 May 2016


Conference2016 IEEE International Conference on Robotics and Automation, ICRA 2016


King's Authors


The complexity of soft continuum manipulators with
hybrid and tuneable structures poses a challenging task to
achieve an inverse kinematics model which is both precise and
computationally efficient for control and optimization purposes.
In this paper, a new method based on the principle of virtual
work and a geometry deformation approach is presented for the
inverse kinematics model of the STIFF-FLOP arm which is a
pneumatically actuated continuum manipulator. We propose a
simplified and computationally efficient yet accurate analytical
solution to analyse the static behaviour of a compound soft
manipulator in the presence of external and body forces which
is verified against experimental data, showing promising
agreement. In the process, we present a new modelling approach
for braided soft extensor actuators. For the first time, our model
predicts a simple analytical solution for the cross section
deformation which is essential to control soft manipulators with
regional tunable stiffness structure.

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