Proposal of flexible robotic arm with thin McKibben actuators mimicking octopus arm structure

Toshiyuki Doi, Shuichi Wakimoto, Koichi Suzumori, Kazuya Mori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

An octopus arm has no rigid structure, it is mostly composed of muscles aligned in various directions and the nerves. The muscles are roughly aligned in three directions, and by driving the muscles selectively, the octopus arm can perform multiple functions such as the contracting, bending, torsion and stiffness alteration. This study aims at the development of a new flexible robotic arm using thin McKibben actuators mimicking the muscle structure of an octopus arm. The McKibben actuator is a well-known pneumatic artificial muscle, and we have developed extremely thin McKibben actuators by using a braiding machine. In this paper, configuration of the flexible arm is proposed. The developed mechanism consists of thirty two thin McKibben actuators arranged in three directions, axial, radial and oblique, imitating the muscle structure of an actual octopus arm. The fundamental motion of the flexible arm is investigated experimentally. The proposed mechanism performs bending, contracting, torsion movements and stiffness alteration like an octopus arm.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5503-5508
Number of pages6
Volume2016-November
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Doi, T., Wakimoto, S., Suzumori, K., & Mori, K. (2016). Proposal of flexible robotic arm with thin McKibben actuators mimicking octopus arm structure. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 5503-5508). [7759809] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759809