Interacting with Obstacles Using a Bio-Inspired, Flexible, Underactuated Multilink Manipulator.

ABSTRACT: With the increasing demand for robotic manipulators to operate in complex environments, it is important to develop designs that work in obstacle-rich environments and can navigate around obstacles. This paper aims to demonstrate the capabilities of a bio-inspired, underactuated multilink manipulator in environments with fixed and/or movable obstacles. To simplify the system design, a single rotational actuator is used at the base of the manipulator. We present a modeling method for flexible, multilink underactuated manipulators, including their interaction with obstacles. We also demonstrate how to plan a trajectory for the manipulator in environments with fixed obstacles. The robustness of the manipulator is examined by analyzing the effects of uncertainty in its initial state and the pos

SUBMITTER: Prigozin A 

PROVIDER: S-EPMC10886640 | biostudies-literature | 2024 Feb

REPOSITORIES: biostudies-literature