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The design and kinematic representation of a soft robot in a simulation environment

Published online by Cambridge University Press:  13 November 2023

Hazal Emet Open the ORCID record for Hazal Emet [Opens in a new window] ,
Berke Gür Open the ORCID record for Berke Gür [Opens in a new window]  and
Mehmet İsmet Can Dede Open the ORCID record for Mehmet İsmet Can Dede [Opens in a new window]
Hazal Emet
Affiliation:
Department of Mechanical Engineering, İzmir Institute of Technology, İzmir, Türkiye
Berke Gür
Affiliation:
Department of Mechatronics Engineering, Bahçeşehir University, İstanbul, Türkiye
Mehmet İsmet Can Dede*
Affiliation:
Department of Mechanical Engineering, İzmir Institute of Technology, İzmir, Türkiye
*
Corresponding author: Mehmet İsmet Can Dede; Email: candede@iyte.edu.tr
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Abstract

The increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study.

Keywords

biomimetic robotsnovel applications of roboticsunmanned underwater vehiclesserial manipulator design and kinematicsteleoperationsoft robots
Type
Research Article
Information
Robotica , Volume 42 , Issue 1 , January 2024 , pp. 139 - 152
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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