A novel continuum-style robot with multilayer compliant modules

Peng Qi; Chen Qiu; Hongbin Liu; Jian S. Dai; Lakmal Seneviratne; Kaspar Althoefer

doi:10.1109/IROS.2014.6943002

A novel continuum-style robot with multilayer compliant modules

Peng Qi, Chen Qiu, Hongbin Liu, Jian S. Dai, Lakmal Seneviratne, Kaspar Althoefer

Khalifa Univ Sci,Technol & Res, Khalifa University of Science & Technology Research, Coll Engn

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

37 Citations (Scopus)

Abstract

This paper introduces a novel continuum-style robot that integrates multiple layers of compliant modules. Its essential features lie in that its bending is not based on natural compliance of a continuous backbone element or soft skeletal elements but instead is based on the compliance of each structured planar module. This structure provides several important advantages. First, it demonstrates a large linear bending motion, whilst avoiding joint friction. Second, its contraction and bending motion are decoupled. Third, it possesses ideal back-drivability and a low hysteresis. We further provide an analytical method to study the compliance characteristics of the planar module and derive the statics and kinematics of the robot. The paper provides an overview of experiments validating the design and analysis.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3175-3180
Number of pages	6
ISBN (Print)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943002
Publication status	Published - 31 Oct 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 14 Sept 2014 → 18 Sept 2014

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	14/09/2014 → 18/09/2014

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10.1109/IROS.2014.6943002

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title = "A novel continuum-style robot with multilayer compliant modules",

abstract = "This paper introduces a novel continuum-style robot that integrates multiple layers of compliant modules. Its essential features lie in that its bending is not based on natural compliance of a continuous backbone element or soft skeletal elements but instead is based on the compliance of each structured planar module. This structure provides several important advantages. First, it demonstrates a large linear bending motion, whilst avoiding joint friction. Second, its contraction and bending motion are decoupled. Third, it possesses ideal back-drivability and a low hysteresis. We further provide an analytical method to study the compliance characteristics of the planar module and derive the statics and kinematics of the robot. The paper provides an overview of experiments validating the design and analysis.",

author = "Peng Qi and Chen Qiu and Hongbin Liu and Dai, {Jian S.} and Lakmal Seneviratne and Kaspar Althoefer",

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doi = "10.1109/IROS.2014.6943002",

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Qi, P , Qiu, C , Liu, H , Dai, JS, Seneviratne, L & Althoefer, K 2014, A novel continuum-style robot with multilayer compliant modules. in IEEE International Conference on Intelligent Robots and Systems., 6943002, Institute of Electrical and Electronics Engineers Inc., pp. 3175-3180, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/09/2014. https://doi.org/10.1109/IROS.2014.6943002

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AU - Althoefer, Kaspar

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AB - This paper introduces a novel continuum-style robot that integrates multiple layers of compliant modules. Its essential features lie in that its bending is not based on natural compliance of a continuous backbone element or soft skeletal elements but instead is based on the compliance of each structured planar module. This structure provides several important advantages. First, it demonstrates a large linear bending motion, whilst avoiding joint friction. Second, its contraction and bending motion are decoupled. Third, it possesses ideal back-drivability and a low hysteresis. We further provide an analytical method to study the compliance characteristics of the planar module and derive the statics and kinematics of the robot. The paper provides an overview of experiments validating the design and analysis.

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A novel continuum-style robot with multilayer compliant modules

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