Authors:
Robin McDonnell
1
;
George Grimes
1
;
Ian D. Walker
1
and
Carlos Carreras
2
Affiliations:
1
Clemson University, United States
;
2
E.T.S.I.T. Universidad Politecnica de Madrid, Spain
Keyword(s):
Robotics, Continuum, Manipulators, Intervals.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
In this paper, we analyze the capabilities of a novel class of continuous-backbone (“continuum”) robots. These robots are inspired by biological “trunks, and tentacles”. However, the capabilities of established continuum robot designs, which feature controlled bending but not extension, fall short of those of their biological counterparts. In this paper, we argue that the addition of controlled extension provides dual and complementary functionality, and correspondingly enhanced performance, in continuum robots. We present an interval-based analysis to show how the inclusion of controllable extension significantly enhances the workspace and capabilities of continuum robots.