Dynamic Modeling and Joint Design of a Cable Driven Soft Gripper

Sumitaka Honji, Kenji Tahara

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

1 被引用数 (Scopus)

抄録

A soft gripper whose whole body is made of some soft materials has a possibility to manipulate arbitrarily shaped objects by adapting its shape. The present soft gripper has just been being expected to be utilized in a simple task such as just grasp and release because an accurate control of the shape and grasping force is difficult due to its softness. However, in order to utilize it in wider situations than the present expected situations that it would be utilized, not only such a binary control but also accurate control of its shape and contact forces would be necessary to realize dexterous manipulation tasks. In order to realize such dexterous manipulation, developing a plausible model is important. In this paper, dynamic models of a soft gripper which is driven by one cable are proposed. The proposed models are based on a spring-mass model that is simple but can express the movement of the proposed soft gripper enough. Several identification experiments according to the proposed models are performed using an experimental setup.

本文言語英語
ホスト出版物のタイトル2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ593-598
ページ数6
ISBN(電子版)9781728165707
DOI
出版ステータス出版済み - 5月 2020
イベント3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 - New Haven, 米国
継続期間: 5月 15 20207月 15 2020

出版物シリーズ

名前2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020

会議

会議3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
国/地域米国
CityNew Haven
Period5/15/207/15/20

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • 機械工学
  • 制御と最適化

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