Casting and winding manipulation with hyper-flexible manipulator

Takahiro Suzuki; Yuji Ebihara; Yoshinobu Ando; Makoto Mizukawa

doi:10.1109/IROS.2006.282123

Casting and winding manipulation with hyper-flexible manipulator

Takahiro Suzuki, Yuji Ebihara, Yoshinobu Ando, Makoto Mizukawa

New Industry Creation Hatchery Center (NICHe)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 Citations (Scopus)

Abstract

Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, casting and winding manipulation of hyperflexible manipulators(HFM) is proposed. The HFM is modeled as an underactuated multi-link system connected by non-elastic passive joints, and simulation results with dynamic parameters heuristically determined corresponding to the experimental results show the validity of the proposed non-elastic model. The simulation results also correspond to the experimental ones with actuation at the base joint. Observations on the simulation results is derived to reveal a better casting actuation to succeed in winding to an object. Then, single swing actuation for winding is proposed and verified in simulations.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	1674-1679
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2006.282123
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	06/10/9 → 06/10/15

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10.1109/IROS.2006.282123

Cite this

@inproceedings{b3f08b2c3d8949cbac5528664938545c,

title = "Casting and winding manipulation with hyper-flexible manipulator",

abstract = "Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, casting and winding manipulation of hyperflexible manipulators(HFM) is proposed. The HFM is modeled as an underactuated multi-link system connected by non-elastic passive joints, and simulation results with dynamic parameters heuristically determined corresponding to the experimental results show the validity of the proposed non-elastic model. The simulation results also correspond to the experimental ones with actuation at the base joint. Observations on the simulation results is derived to reveal a better casting actuation to succeed in winding to an object. Then, single swing actuation for winding is proposed and verified in simulations.",

author = "Takahiro Suzuki and Yuji Ebihara and Yoshinobu Ando and Makoto Mizukawa",

year = "2006",

doi = "10.1109/IROS.2006.282123",

language = "English",

isbn = "142440259X",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "1674--1679",

booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

}

Suzuki, T, Ebihara, Y, Ando, Y & Mizukawa, M 2006, Casting and winding manipulation with hyper-flexible manipulator. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4058616, IEEE International Conference on Intelligent Robots and Systems, pp. 1674-1679, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.282123

Casting and winding manipulation with hyper-flexible manipulator. / Suzuki, Takahiro; Ebihara, Yuji; Ando, Yoshinobu et al.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 1674-1679 4058616 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Casting and winding manipulation with hyper-flexible manipulator

AU - Suzuki, Takahiro

AU - Ebihara, Yuji

AU - Ando, Yoshinobu

AU - Mizukawa, Makoto

PY - 2006

Y1 - 2006

N2 - Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, casting and winding manipulation of hyperflexible manipulators(HFM) is proposed. The HFM is modeled as an underactuated multi-link system connected by non-elastic passive joints, and simulation results with dynamic parameters heuristically determined corresponding to the experimental results show the validity of the proposed non-elastic model. The simulation results also correspond to the experimental ones with actuation at the base joint. Observations on the simulation results is derived to reveal a better casting actuation to succeed in winding to an object. Then, single swing actuation for winding is proposed and verified in simulations.

AB - Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, casting and winding manipulation of hyperflexible manipulators(HFM) is proposed. The HFM is modeled as an underactuated multi-link system connected by non-elastic passive joints, and simulation results with dynamic parameters heuristically determined corresponding to the experimental results show the validity of the proposed non-elastic model. The simulation results also correspond to the experimental ones with actuation at the base joint. Observations on the simulation results is derived to reveal a better casting actuation to succeed in winding to an object. Then, single swing actuation for winding is proposed and verified in simulations.

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T3 - IEEE International Conference on Intelligent Robots and Systems

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BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

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Y2 - 9 October 2006 through 15 October 2006

ER -

Casting and winding manipulation with hyper-flexible manipulator

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