Inflatable Robotic Arm with Overlaid Plastic Sheet Structure

Ryosuke Tatara, Kazuki Ebisu, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

An inflatable structure has been focused by several researchers in the field of soft robotics, owing to its features: flexible, lightweight and compactable. In particular, inflatable robotic arms have been expected to perform daily tasks near humans due to safe contact. To date, several inflatable robotic arms have been proposed, however, the number of robotic arms composed of only plastic materials is quite limited. In addition, the control performance of the robots has not been discussed sufficiently.This paper proposes a novel inflatable robotic arm composed of poly-laminated sheets and low-density polyethylene (LDPE) sheets. The combination of the two materials provides high-pressure resistance. Several advantages are also given: high torque, high control performance, and high load capacity. Moreover, both pressure and visual feedback controls are utilized to realize precise motion control. The end-effector of the robot is composed of pleated structures and grasps flexibly according to object shapes. The performance of the robot is finally described by some experiments.

本文言語英語
ホスト出版物のタイトルProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ689-694
ページ数6
ISBN(電子版)9781538636152
DOI
出版ステータス出版済み - 4 25 2019
イベント2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, フランス
継続期間: 1 14 20191 16 2019

出版物シリーズ

名前Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

会議

会議2019 IEEE/SICE International Symposium on System Integration, SII 2019
Countryフランス
CityParis
Period1/14/191/16/19

All Science Journal Classification (ASJC) codes

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

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