A Novel Model for Layer Jamming-based Continuum Robots

Yi, B; Fan, Y; Liu, D

A Novel Model for Layer Jamming-based Continuum Robots

Yi, B Fan, Y Liu, D

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Publisher:: IEEE
Publication Type:: Conference Proceeding
Citation:: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, 00, pp. 12727-12733
Issue Date:: 2024-01-01

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Field	Value	Language
dc.contributor.author	Yi, B
dc.contributor.author	Fan, Y
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582
dc.date	2024-05-13
dc.date.accessioned	2024-12-02T01:26:54Z
dc.date.available	2024-12-02T01:26:54Z
dc.date.issued	2024-01-01
dc.identifier.citation	2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, 00, pp. 12727-12733
dc.identifier.isbn	979-8-3503-8458-1
dc.identifier.issn	1050-4729
dc.identifier.uri	http://hdl.handle.net/10453/182240
dc.description.abstract	Continuum robots with variable stiffness have gained wide popularity in the last decade Layer jamming LJ has emerged as a simple and efficient technique to achieve tunable stiffness for continuum robots Despite its merits the development of a control oriented dynamical model 1 tailored for this specific class of robots remains an open problem in the literature This paper aims to present the first solution to the best of our knowledge to close the gap We propose an energy based model that is integrated with the LuGre frictional model for LJ based continuum robots Then we take a comprehensive theoretical analysis for this model focusing on two fundamental characteristics of LJ based continuum robots shape locking and adjustable stiffness To validate the modeling approach and theoretical results a series of experiments using our OctRobot I continuum robotic platform was conducted The results show that the proposed model is capable of interpreting and predicting the dynamical behaviors in LJ based continuum robots
dc.language	en
dc.publisher	IEEE
dc.relation	http://purl.org/au-research/grants/arc/DP200102497
dc.relation.ispartof	2024 IEEE International Conference on Robotics and Automation (ICRA)
dc.relation.ispartof	2024 IEEE International Conference on Robotics and Automation
dc.relation.isbasedon	10.1109/icra57147.2024.10610912
dc.rights	info:eu-repo/semantics/restrictedAccess
dc.title	A Novel Model for Layer Jamming-based Continuum Robots
dc.type	Conference Proceeding
utslib.citation.volume	00
utslib.location.activity	Yokohama, Japan
pubs.organisational-group	University of Technology Sydney
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	University of Technology Sydney/UTS Groups
pubs.organisational-group	University of Technology Sydney/UTS Groups/Robotics Institute (RI)
utslib.copyright.status	in_progress	*
dc.date.updated	2024-12-02T01:26:50Z
pubs.finish-date	2024-05-17
pubs.place-of-publication	Piscataway, USA
pubs.publication-status	Published
pubs.start-date	2024-05-13
pubs.volume	00
dc.location	Piscataway, USA

Abstract:

Continuum robots with variable stiffness have gained wide popularity in the last decade Layer jamming LJ has emerged as a simple and efficient technique to achieve tunable stiffness for continuum robots Despite its merits the development of a control oriented dynamical model 1 tailored for this specific class of robots remains an open problem in the literature This paper aims to present the first solution to the best of our knowledge to close the gap We propose an energy based model that is integrated with the LuGre frictional model for LJ based continuum robots Then we take a comprehensive theoretical analysis for this model focusing on two fundamental characteristics of LJ based continuum robots shape locking and adjustable stiffness To validate the modeling approach and theoretical results a series of experiments using our OctRobot I continuum robotic platform was conducted The results show that the proposed model is capable of interpreting and predicting the dynamical behaviors in LJ based continuum robots

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http://hdl.handle.net/10453/182240