Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
This paper proposes a method for a continuum robot to achieve a desired complex shape (e.g. Clothoid curve, Lemniscate ) that cannot be modeled using a constant curvature model. This can be realized by freely determining the lengths between discs on the continuum robot. We developed a simulation that reproduces the predefined target shape by optimizing the deformed robot shape to be close to the target shape. The proposed model can be utilized for designing a manipulator, a body part of a biomimetic robot, or a robot hand.
