DocumentCode
2038039
Title
A Mechanism for Biomimetic Actuation in Lamprey-like Robots
Author
Stefanini, Cesare ; Orlandi, Giovanni ; Menciassi, Arianna ; Ravier, Yann ; La spina, Giovanni ; Grillner, Sten ; Dario, Paolo
Author_Institution
CRIM Lab., Pisa
fYear
2006
fDate
20-22 Feb. 2006
Firstpage
579
Lastpage
584
Abstract
This paper describes the combination of a commercial actuator with a 6-link mechanism purposely designed for providing the force/elongation behavior of natural muscles. The application of this system is the actuation of a biomimetic lamprey-like robot with many degrees of freedom. In this paper it is shown how the very unnatural characteristic of a solenoid actuator can be modified through a dedicated kinematic chain in order to replicate the qualitative curve of muscles, which are strong in their resting length and weak both in contracted and extended configurations
Keywords
actuators; biomimetics; mobile robots; muscle; robot kinematics; solenoids; 6-link mechanism; artificial muscles; backdrivable actuators; biomimetic actuation; biomimetic lamprey-like robots; force-elongation behavior; kinematics; natural muscles; solenoid actuator; Biomimetics; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location
Pisa
Print_ISBN
1-4244-0040-6
Type
conf
DOI
10.1109/BIOROB.2006.1639151
Filename
1639151
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