Three dimensional statics for continuum robotics

—This paper introduces a method for computing the shape of a continuously-flexible (continuum) robot in 3-D space which includes gravity loading by applying Cosserat rod theory to a continuum robot. With this theory, the shape of the rod can be determined using force-torque balance equations obtained from a simple free body diagram that represents the continuum robot. Real-time performance of 125 Hz makes this approach viable for the control of a continuum robot, enabled by avoiding boundary-value conditions in the solution.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Bryan A. Jones, Ricky L. Gray, Krishna Turlapati
• Keywords: Continuum Robot, Cosserat Rod Theory, Force-torque Balance Equations, IROS 2009, Robotics