Vine-Inspired Continuum Tendril Robots and Circumnutations
AbstractSmooth-backboned “continuum” robot structures offer novel ways to create robot shapes and movements. In this paper, we show how circumnutation, a motion strategy commonly employed by plants, can be implemented and usefully exploited with continuum robots. We discuss how the kinematics of circumnutation, which combines local backbone growth with periodic backbone bending, can be created using extensible continuum robot hardware. The underlying kinematics are generated by adapting kinematic models of plant growth. We illustrate the effectiveness of that approach with experimental results with a tendril-like robot exploring a congested environment. View Full-Text
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Wooten, M.B.; Walker, I.D. Vine-Inspired Continuum Tendril Robots and Circumnutations. Robotics 2018, 7, 58.
Wooten MB, Walker ID. Vine-Inspired Continuum Tendril Robots and Circumnutations. Robotics. 2018; 7(3):58.Chicago/Turabian Style
Wooten, Michael B.; Walker, Ian D. 2018. "Vine-Inspired Continuum Tendril Robots and Circumnutations." Robotics 7, no. 3: 58.
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