Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures

Area of Science:

• Robotics
• Biomimetics
• Mechanical Engineering

Background:

• Biological tentacles, like octopus arms, exhibit remarkable flexibility and infinite degrees of freedom (DOF).
• This dexterity inspires the development of advanced continuum manipulators in robotics.
• Existing robotic systems often lack the compliance and adaptability of biological structures.

Purpose of the Study:

• To present a novel pneumatic manipulator mimicking key features of biological continuum structures.
• To formulate and identify the kinematics and dynamics of this bio-inspired manipulator.
• To develop a hierarchical controller for precise motion control, drawing inspiration from octopus nervous systems.

Main Methods:

• Development of a pneumatic continuum manipulator with hyper-redundant DOF.
• Formulation and identification of the manipulator's kinematics and dynamics.
• Implementation of a hierarchical controller inspired by octopus neural structures.
• Validation through simulations and experimental testing.

Main Results:

• The developed pneumatic manipulator successfully replicates continuum morphology and intrinsic compliance.
• The hierarchical controller effectively relates desired motions to actuator inputs.
• Simulations and experiments showed good agreement, validating the manipulator's model and prototype.

Conclusions:

• The bio-inspired pneumatic manipulator offers a promising approach for achieving octopus-like dexterity in robotic systems.
• The formulated models and control strategies provide a foundation for future advancements in continuum robotics.
• This research highlights the potential of biomimicry in creating highly adaptable and functional robotic manipulators.