Title :
Modelling of multisection bionic manipulator: Application to RobotinoXT
Author :
Escande, Coralie ; Pathak, Pushparaj Mani ; Merzouki, Rochdi ; Coelen, Vincent
Author_Institution :
LAGIS FRE, Polytech´´Lille, Villeneuve-d´´Ascq, France
Abstract :
This paper deals with geometric models of a class of multisection bionic manipulator applied to RobotinoXT. This bio-inspired flexible manipulator is a small version of a multisection pneumatically actuated, called Bionic Handling Assistant robot (BHA), where each segment is composed by a set of backbones tubes. Experimental results are presented to compare the analytical and practical analysis. These models are the first steps to synthesis of kinematic and dynamic model of this class of bionic manipulator, which will be used to design an adequate control for the whole robot.
Keywords :
biocybernetics; flexible manipulators; bio inspired flexible manipulator; bionic handling assistant robot; dynamic model; geometric models; kinematic model; multisection bionic manipulator; multisection pneumatically actuated; Biological system modeling; Electron tubes; Equations; Manipulators; Mathematical model; Service robots;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181268
