Abstract
This paper shows a new design and prototyping method for a bending pneumatic rubber actuator and its application to a soft-bodied manta swimming robot. The design is based on optimal design using non-linear finite element method, in which geometrical and material non-linearity are considered and fabrication process is based on a rapid and efficient prototyping system using a CAD/CAM based rubber molding process. In this paper, the characteristics of several possible actuators are analyzed and evaluated to lead to an optimal actuator design. The actuator works very well with smooth and soft motion. The manta swimming robot in which the developed actuators are embedded is also designed based on non-linear finite element method. The developed manta swimming robot is made only of rubber and it swims in water smoothly as if it was a living fish. The experimental results of the manta robot motion show that good agreement with those of analytical results.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 4975-4980 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2007 |
| Event | 2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007 |
Other
| Other | 2007 IEEE International Conference on Robotics and Automation, ICRA'07 |
|---|---|
| Country | Italy |
| City | Rome |
| Period | 4/10/07 → 4/14/07 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot. / Suzumori, Koichi; Endo, Satoshi; Kanda, Takefumi; Kato, Naomi; Suzuki, Hiroyoshi.
Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 4975-4980 4209864.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A bending pneumatic rubber actuator realizing soft-bodied manta swimming robot
AU - Suzumori, Koichi
AU - Endo, Satoshi
AU - Kanda, Takefumi
AU - Kato, Naomi
AU - Suzuki, Hiroyoshi
PY - 2007
Y1 - 2007
N2 - This paper shows a new design and prototyping method for a bending pneumatic rubber actuator and its application to a soft-bodied manta swimming robot. The design is based on optimal design using non-linear finite element method, in which geometrical and material non-linearity are considered and fabrication process is based on a rapid and efficient prototyping system using a CAD/CAM based rubber molding process. In this paper, the characteristics of several possible actuators are analyzed and evaluated to lead to an optimal actuator design. The actuator works very well with smooth and soft motion. The manta swimming robot in which the developed actuators are embedded is also designed based on non-linear finite element method. The developed manta swimming robot is made only of rubber and it swims in water smoothly as if it was a living fish. The experimental results of the manta robot motion show that good agreement with those of analytical results.
AB - This paper shows a new design and prototyping method for a bending pneumatic rubber actuator and its application to a soft-bodied manta swimming robot. The design is based on optimal design using non-linear finite element method, in which geometrical and material non-linearity are considered and fabrication process is based on a rapid and efficient prototyping system using a CAD/CAM based rubber molding process. In this paper, the characteristics of several possible actuators are analyzed and evaluated to lead to an optimal actuator design. The actuator works very well with smooth and soft motion. The manta swimming robot in which the developed actuators are embedded is also designed based on non-linear finite element method. The developed manta swimming robot is made only of rubber and it swims in water smoothly as if it was a living fish. The experimental results of the manta robot motion show that good agreement with those of analytical results.
UR - http://www.scopus.com/inward/record.url?scp=36348961948&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348961948&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.364246
DO - 10.1109/ROBOT.2007.364246
M3 - Conference contribution
AN - SCOPUS:36348961948
SN - 1424406021
SN - 9781424406029
SP - 4975
EP - 4980
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -