Clemson University

Research Assistant

Development of non-linear model-based control and estimation strategies, system modeling, simulation, prototyping, test-bench development, experimental verification, and laboratory resource management.

Clemson University

Lecturer

Lecturer for freshman engineering class introducing students to MatLab programming.

Clemson University

Visiting Assistant Professor and Undergraduate Laboratory Coordinator

Teaching class, Laboratory Coordinator, Laboratory class development, Senior Design development

Clemson University

Graduate Research Assistant

Conducting research on various projects involving robotics, nonlinear control, system design, and sensor integration.

Clemson University

PhD Candidate

I currently work in the Robotics & Mechatronics Laboratory at Clemson University, primarily under Dr. Ian Walker and Dr. Darren Dawson. My dissertation aims to augment the existing understanding in the field of extensible continuum manipulators by focusing on the development of simple dynamic models, model-based task- and configuration-space controllers, and self-motion analysis. These robots take inspiration from the Animal Kingdom, and are based on elephant trunks, octopus arms, and giraffe tongues.

Brooklyn College

Research Engineer

Part of a team responsible for the design and development of biologically inspired robots.

Department of Electrical and Computer Engineering

Graduate Teaching Assistant

This job includes:
- Developing material and teaching Sophomore and Junior level labs, and supervising junior Teaching Assistants.
- Conducting problem solving sessions throughout the semester.

Controls and Robotics Lab

Graduate Research Assistant

Development of non-linear model-based control and estimation strategies, system modeling, simulation, prototyping, test-bench development, experimental verification, and laboratory resource management.

A New Approach to Extensible Continuum Robot Control Using the Sliding-Mode

Computer Technology and Application

In this paper, the authors present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, the authors introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six-degree of freedom planar continuum robot.

A New Approach to Extensible Continuum Robot Control Using the Sliding-Mode

Computer Technology and Application

In this paper, the authors present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, the authors introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six-degree of freedom planar continuum robot.

Autonomous Continuum Grasping

Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

A New Approach to Extensible Continuum Robot Control Using the Sliding-Mode

Computer Technology and Application

In this paper, the authors present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, the authors introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six-degree of freedom planar continuum robot.

Autonomous Continuum Grasping

Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Task-Space Control of Extensible Continuum Manipulators

IEEE

In this paper, we present a new approach towards the control of continuous backbone (continuum) “trunk and tentacle” robots. Development of model-based control algorithms for this new and emerging class of robots has been relatively slow due to the inherent complexity of their mathematical models. Using the recently developed kinematics, velocity Jacobian and full dynamic model, a simple nonlinear task-space controller established for rigid-link robots is adapted and extended for continuum manipulators for the regulation of its tip or locations in task space along its backbone. This approach is applicable to all continuum robots with extension/ contraction and bending capabilities. Results are shown using a three-section, six degree-of-freedom planar continuum robot.

Empirical Investigation of Closed-Loop Control of Extensible Continuum Manipulators

IEEE

This paper details closed-loop control experiments that were conducted on an extensible continuum manipulator, the OctArm. The performance of three controllers are shown here. The controllers can be classified into two categories: Closed-loop configuration-space control and closed loop task-space teleoperation. Two controllers were tested in the configuration-space control experiments: a proportional-derivative (PD) controller and a nonlinear sliding-mode controller. The third controller is also shown in which the redundant extensible continuum manipulator tip tracks the motion of a kinematically-dissimilar non-redundant rigid-link master system. The results of these experiments confirm the ability of the control strategies to effectively control continuum robot hardware.

Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master

IEEE

In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

A New Approach to Extensible Continuum Robot Control Using the Sliding-Mode

Computer Technology and Application

In this paper, the authors present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, the authors introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six-degree of freedom planar continuum robot.

Autonomous Continuum Grasping

Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Task-Space Control of Extensible Continuum Manipulators

IEEE

In this paper, we present a new approach towards the control of continuous backbone (continuum) “trunk and tentacle” robots. Development of model-based control algorithms for this new and emerging class of robots has been relatively slow due to the inherent complexity of their mathematical models. Using the recently developed kinematics, velocity Jacobian and full dynamic model, a simple nonlinear task-space controller established for rigid-link robots is adapted and extended for continuum manipulators for the regulation of its tip or locations in task space along its backbone. This approach is applicable to all continuum robots with extension/ contraction and bending capabilities. Results are shown using a three-section, six degree-of-freedom planar continuum robot.

Empirical Investigation of Closed-Loop Control of Extensible Continuum Manipulators

IEEE

This paper details closed-loop control experiments that were conducted on an extensible continuum manipulator, the OctArm. The performance of three controllers are shown here. The controllers can be classified into two categories: Closed-loop configuration-space control and closed loop task-space teleoperation. Two controllers were tested in the configuration-space control experiments: a proportional-derivative (PD) controller and a nonlinear sliding-mode controller. The third controller is also shown in which the redundant extensible continuum manipulator tip tracks the motion of a kinematically-dissimilar non-redundant rigid-link master system. The results of these experiments confirm the ability of the control strategies to effectively control continuum robot hardware.

Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master

IEEE

In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

"Architectural Robotics": An Interdisciplinary Course Rethinking the Machines We Live In

IEEE Int. Conf. Rob. Autom.

We discuss disciplinary barriers which have traditionally prevented robotics from significantly impacting the built (architectural) environment we inhabit. Specifically, we describe the implementation of, and lessons learned from, a multidisciplinary graduate-level course in Architectural Robotics. The results from class interactions and projects provide insight into novel ways in which robotics expertise can be effectively leveraged in architecture. Conversely, our outcomes suggest ways in which the knowledge and perspective of architects could stimulate significant innovations in robotics.

A New Approach to Extensible Continuum Robot Control Using the Sliding-Mode

Computer Technology and Application

In this paper, the authors present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, the authors introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six-degree of freedom planar continuum robot.

Autonomous Continuum Grasping

Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Task-Space Control of Extensible Continuum Manipulators

IEEE

In this paper, we present a new approach towards the control of continuous backbone (continuum) “trunk and tentacle” robots. Development of model-based control algorithms for this new and emerging class of robots has been relatively slow due to the inherent complexity of their mathematical models. Using the recently developed kinematics, velocity Jacobian and full dynamic model, a simple nonlinear task-space controller established for rigid-link robots is adapted and extended for continuum manipulators for the regulation of its tip or locations in task space along its backbone. This approach is applicable to all continuum robots with extension/ contraction and bending capabilities. Results are shown using a three-section, six degree-of-freedom planar continuum robot.

Empirical Investigation of Closed-Loop Control of Extensible Continuum Manipulators

IEEE

This paper details closed-loop control experiments that were conducted on an extensible continuum manipulator, the OctArm. The performance of three controllers are shown here. The controllers can be classified into two categories: Closed-loop configuration-space control and closed loop task-space teleoperation. Two controllers were tested in the configuration-space control experiments: a proportional-derivative (PD) controller and a nonlinear sliding-mode controller. The third controller is also shown in which the redundant extensible continuum manipulator tip tracks the motion of a kinematically-dissimilar non-redundant rigid-link master system. The results of these experiments confirm the ability of the control strategies to effectively control continuum robot hardware.

Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master

IEEE

In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

"Architectural Robotics": An Interdisciplinary Course Rethinking the Machines We Live In

IEEE Int. Conf. Rob. Autom.

We discuss disciplinary barriers which have traditionally prevented robotics from significantly impacting the built (architectural) environment we inhabit. Specifically, we describe the implementation of, and lessons learned from, a multidisciplinary graduate-level course in Architectural Robotics. The results from class interactions and projects provide insight into novel ways in which robotics expertise can be effectively leveraged in architecture. Conversely, our outcomes suggest ways in which the knowledge and perspective of architects could stimulate significant innovations in robotics.

Lyapunov-based Continuous-Stirred Tank Bioreactor Control to Maximize Biomass Production using the Haldane and Monod Specific Growth Models

American Control Conference (ACC), pp. 6734 - 6739

A novel robust controller is proposed for a continuous-stirred tank bioreactor that controls the culture dilution rate into the bioreactor in order to maximize a cost function representing the biomass yield. To that end, an optimal desired biomass concentration trajectory is designed based on a numerical extremum-seeking algorithm to maximize the biomass yield. A nonlinear robust controller is designed to ensure the biomass concentration tracks the desired trajectory while providing stable operation. Lyapunov-based stability analyses are used to prove semi-global tracking.

A New Approach to Extensible Continuum Robot Control Using the Sliding-Mode

Computer Technology and Application

In this paper, the authors present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, the authors introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six-degree of freedom planar continuum robot.

Autonomous Continuum Grasping

Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Task-Space Control of Extensible Continuum Manipulators

IEEE

In this paper, we present a new approach towards the control of continuous backbone (continuum) “trunk and tentacle” robots. Development of model-based control algorithms for this new and emerging class of robots has been relatively slow due to the inherent complexity of their mathematical models. Using the recently developed kinematics, velocity Jacobian and full dynamic model, a simple nonlinear task-space controller established for rigid-link robots is adapted and extended for continuum manipulators for the regulation of its tip or locations in task space along its backbone. This approach is applicable to all continuum robots with extension/ contraction and bending capabilities. Results are shown using a three-section, six degree-of-freedom planar continuum robot.

Empirical Investigation of Closed-Loop Control of Extensible Continuum Manipulators

IEEE

This paper details closed-loop control experiments that were conducted on an extensible continuum manipulator, the OctArm. The performance of three controllers are shown here. The controllers can be classified into two categories: Closed-loop configuration-space control and closed loop task-space teleoperation. Two controllers were tested in the configuration-space control experiments: a proportional-derivative (PD) controller and a nonlinear sliding-mode controller. The third controller is also shown in which the redundant extensible continuum manipulator tip tracks the motion of a kinematically-dissimilar non-redundant rigid-link master system. The results of these experiments confirm the ability of the control strategies to effectively control continuum robot hardware.

Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master

IEEE

In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

"Architectural Robotics": An Interdisciplinary Course Rethinking the Machines We Live In

IEEE Int. Conf. Rob. Autom.

We discuss disciplinary barriers which have traditionally prevented robotics from significantly impacting the built (architectural) environment we inhabit. Specifically, we describe the implementation of, and lessons learned from, a multidisciplinary graduate-level course in Architectural Robotics. The results from class interactions and projects provide insight into novel ways in which robotics expertise can be effectively leveraged in architecture. Conversely, our outcomes suggest ways in which the knowledge and perspective of architects could stimulate significant innovations in robotics.

Lyapunov-based Continuous-Stirred Tank Bioreactor Control to Maximize Biomass Production using the Haldane and Monod Specific Growth Models

American Control Conference (ACC), pp. 6734 - 6739

A novel robust controller is proposed for a continuous-stirred tank bioreactor that controls the culture dilution rate into the bioreactor in order to maximize a cost function representing the biomass yield. To that end, an optimal desired biomass concentration trajectory is designed based on a numerical extremum-seeking algorithm to maximize the biomass yield. A nonlinear robust controller is designed to ensure the biomass concentration tracks the desired trajectory while providing stable operation. Lyapunov-based stability analyses are used to prove semi-global tracking.

A Model-based Sliding Mode Controller for Extensible Continuum Manipulators

WSEAS

In this paper, we present a new control strategy for continuous backbone (continuum) ”trunk and tentacle” robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, we introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six degree of freedom planar continuum robot.

A New Approach to Extensible Continuum Robot Control Using the Sliding-Mode

Computer Technology and Application

In this paper, the authors present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, the authors introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six-degree of freedom planar continuum robot.

Autonomous Continuum Grasping

Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Task-Space Control of Extensible Continuum Manipulators

IEEE

In this paper, we present a new approach towards the control of continuous backbone (continuum) “trunk and tentacle” robots. Development of model-based control algorithms for this new and emerging class of robots has been relatively slow due to the inherent complexity of their mathematical models. Using the recently developed kinematics, velocity Jacobian and full dynamic model, a simple nonlinear task-space controller established for rigid-link robots is adapted and extended for continuum manipulators for the regulation of its tip or locations in task space along its backbone. This approach is applicable to all continuum robots with extension/ contraction and bending capabilities. Results are shown using a three-section, six degree-of-freedom planar continuum robot.

Empirical Investigation of Closed-Loop Control of Extensible Continuum Manipulators

IEEE

This paper details closed-loop control experiments that were conducted on an extensible continuum manipulator, the OctArm. The performance of three controllers are shown here. The controllers can be classified into two categories: Closed-loop configuration-space control and closed loop task-space teleoperation. Two controllers were tested in the configuration-space control experiments: a proportional-derivative (PD) controller and a nonlinear sliding-mode controller. The third controller is also shown in which the redundant extensible continuum manipulator tip tracks the motion of a kinematically-dissimilar non-redundant rigid-link master system. The results of these experiments confirm the ability of the control strategies to effectively control continuum robot hardware.

Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master

IEEE

In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

"Architectural Robotics": An Interdisciplinary Course Rethinking the Machines We Live In

IEEE Int. Conf. Rob. Autom.

We discuss disciplinary barriers which have traditionally prevented robotics from significantly impacting the built (architectural) environment we inhabit. Specifically, we describe the implementation of, and lessons learned from, a multidisciplinary graduate-level course in Architectural Robotics. The results from class interactions and projects provide insight into novel ways in which robotics expertise can be effectively leveraged in architecture. Conversely, our outcomes suggest ways in which the knowledge and perspective of architects could stimulate significant innovations in robotics.

Lyapunov-based Continuous-Stirred Tank Bioreactor Control to Maximize Biomass Production using the Haldane and Monod Specific Growth Models

American Control Conference (ACC), pp. 6734 - 6739

A novel robust controller is proposed for a continuous-stirred tank bioreactor that controls the culture dilution rate into the bioreactor in order to maximize a cost function representing the biomass yield. To that end, an optimal desired biomass concentration trajectory is designed based on a numerical extremum-seeking algorithm to maximize the biomass yield. A nonlinear robust controller is designed to ensure the biomass concentration tracks the desired trajectory while providing stable operation. Lyapunov-based stability analyses are used to prove semi-global tracking.

A Model-based Sliding Mode Controller for Extensible Continuum Manipulators

WSEAS

In this paper, we present a new control strategy for continuous backbone (continuum) ”trunk and tentacle” robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, we introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six degree of freedom planar continuum robot.

A Novel Approach to Rethinking the Machines in Which We Live: A Multidisciplinary Course in Architectural Robotics

Robotics and Automation Magazine

A New Approach to Extensible Continuum Robot Control Using the Sliding-Mode

Computer Technology and Application

In this paper, the authors present a new control strategy for continuous backbone (continuum) "trunk and tentacle" robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, the authors introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six-degree of freedom planar continuum robot.

Autonomous Continuum Grasping

Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Task-Space Control of Extensible Continuum Manipulators

IEEE

In this paper, we present a new approach towards the control of continuous backbone (continuum) “trunk and tentacle” robots. Development of model-based control algorithms for this new and emerging class of robots has been relatively slow due to the inherent complexity of their mathematical models. Using the recently developed kinematics, velocity Jacobian and full dynamic model, a simple nonlinear task-space controller established for rigid-link robots is adapted and extended for continuum manipulators for the regulation of its tip or locations in task space along its backbone. This approach is applicable to all continuum robots with extension/ contraction and bending capabilities. Results are shown using a three-section, six degree-of-freedom planar continuum robot.

Empirical Investigation of Closed-Loop Control of Extensible Continuum Manipulators

IEEE

This paper details closed-loop control experiments that were conducted on an extensible continuum manipulator, the OctArm. The performance of three controllers are shown here. The controllers can be classified into two categories: Closed-loop configuration-space control and closed loop task-space teleoperation. Two controllers were tested in the configuration-space control experiments: a proportional-derivative (PD) controller and a nonlinear sliding-mode controller. The third controller is also shown in which the redundant extensible continuum manipulator tip tracks the motion of a kinematically-dissimilar non-redundant rigid-link master system. The results of these experiments confirm the ability of the control strategies to effectively control continuum robot hardware.

Teleoperation Control of a Redundant Continuum Manipulator Using a Non-Redundant Rigid-Link Master

IEEE

In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant robot can be utilized to achieve secondary control objectives while allowing the user to concentrate on controlling only the tip of the slave system. To that end, feedback linearizing controllers are proposed for both the master and slave systems, whose effectiveness is demonstrated using numerical simulations for the case of singularity avoidance as a subtask.

"Architectural Robotics": An Interdisciplinary Course Rethinking the Machines We Live In

IEEE Int. Conf. Rob. Autom.

We discuss disciplinary barriers which have traditionally prevented robotics from significantly impacting the built (architectural) environment we inhabit. Specifically, we describe the implementation of, and lessons learned from, a multidisciplinary graduate-level course in Architectural Robotics. The results from class interactions and projects provide insight into novel ways in which robotics expertise can be effectively leveraged in architecture. Conversely, our outcomes suggest ways in which the knowledge and perspective of architects could stimulate significant innovations in robotics.

Lyapunov-based Continuous-Stirred Tank Bioreactor Control to Maximize Biomass Production using the Haldane and Monod Specific Growth Models

American Control Conference (ACC), pp. 6734 - 6739

A novel robust controller is proposed for a continuous-stirred tank bioreactor that controls the culture dilution rate into the bioreactor in order to maximize a cost function representing the biomass yield. To that end, an optimal desired biomass concentration trajectory is designed based on a numerical extremum-seeking algorithm to maximize the biomass yield. A nonlinear robust controller is designed to ensure the biomass concentration tracks the desired trajectory while providing stable operation. Lyapunov-based stability analyses are used to prove semi-global tracking.

A Model-based Sliding Mode Controller for Extensible Continuum Manipulators

WSEAS

In this paper, we present a new control strategy for continuous backbone (continuum) ”trunk and tentacle” robots. Control of this emerging new class of robots has proved difficult due to the inherent complexity of their dynamics. Using a recently established full dynamic model, we introduce a new nonlinear model-based control strategy for continuum robots. The approach is applicable to continuum robots which can extend/contract as well as bend throughout their structure. Results are illustrated using the mathematical model of a three-section, six degree of freedom planar continuum robot.

A Novel Approach to Rethinking the Machines in Which We Live: A Multidisciplinary Course in Architectural Robotics

Robotics and Automation Magazine

A Novel Continuum Trunk Robot Based on Contractor Muscles

WSEAS

We describe the design, construction, and operation of a novel continuous backbone “continuum” robot. Inspired by biological trunks and tentacles, the robot is actuated by the pneumatic muscles which form its structure. In contrast to previous designs, the actuators are contractor muscles, which decrease in length as pressure is increased. This choice of actuator results in novel and improved performance with respect to previous pneumatically actuated trunk robots, particularly in use as an active hook. We detail the design process, discuss construction issues, and describe the results of initial experiments using the robot.

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