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Barreiros et al., 2019 - Google Patents

Configurable tendon routing in a 3d-printed soft actuator for improved locomotion in a multi-legged robot

Barreiros et al., 2019

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Document ID
9360268450439796634
Author
Barreiros J
O'Brien K
Hong S
Xiao M
Yang H
Shepherd R
Publication year
Publication venue
2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

External Links

Snippet

Soft robots struggle with terrestrial locomotion due to their inherent lack of rigidity, specifically along axes not in line with the direction of actuation (side loads). We present a method for improved stiffness in a 3D printed, tendon-driven soft actuator. We show, both …
Continue reading at par.nsf.gov (PDF) (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators

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