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Continuum Robots

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Encyclopedia of Complexity and Systems Science

Definition of the Subject

In this article, we discuss some of the key issues involved in the design and implementation of the emerging class of“invertebrate‐like” continuum robots . Using two case studies of continuumrobots developed recently at Clemson University, we overview the issues involved in realizing continuum robots and their deployment. The potential ofthese types of robots for enhanced productivity in novel applications is discussed.

In the first case study, we describe the design of the “OctArm” continuum manipulator robot hardware, and discuss the results of field testing of these novel “trunk‐like” robots. OctArmrobots are able to adapt their shape to their environment, to access difficult-to-reach areas, and to perform adaptive grasping using their entirearms. Lessons learned and implications for future robot manipulators in the field are discussed.

In the second case study, we describe the new “Animated Work Environment ” (AWE) concept. AWE is an...

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Abbreviations

Degree of freedom:

(Sub)set of a physically reconfigurable system whose configuration can always be specified by a single variable.

Kinematics:

Geometric (and differential geometric) models of mechanical systems, not including effects of dynamics (masses, forces, inertias, etc.).

Robot:

A physically reconfigurable system that has multiple degrees of freedom and is (at least partially) computer‐controlled.

Actuators:

Devices used to transfer mass (herein portions of a robot system) from one place to another within the system's environment.

Sensors:

Devices used to infer information, usually either about the internal state of a system, or about external environment surrounding that system.

Control:

Use of sensors and actuators to reconfigure a system (herein robots) according to a desired plan.

Continuum:

Continuous in nature; herein usually the backbone/core of a robot.

OctArm:

Continuum robot manipulator inspired by octopus arms.

AWE:

(“Animated Work Environment”) Reconfigurable environment featuring continuum robot components, focused on work environments featuring computing.

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Acknowledgments

The authors acknowledge support from the US National Science Foundation under grant number IIS‐0534423, and from the Defense Advanced ResearchProjects Agency (DARPA) Defense Sciences Office through the Space and Naval Warfare Systems Center, San Diego, Contract Number N66001-03-C-8043.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Clemson University, Clemson, USA

    Ian D. Walker

  2. School of Architecture, Clemson University, Clemson, USA

    Keith E. Green

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Editors and Affiliations

  1. RAMTECH LIMITED, 122 Escalle Lane, Larkspur, CA, 94939, USA

    Robert A. Meyers Ph. D. (Editor-in-Chief) (Editor-in-Chief)

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© 2009 Springer-Verlag

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Walker, I.D., Green, K.E. (2009). Continuum Robots. In: Meyers, R. (eds) Encyclopedia of Complexity and Systems Science. Springer, New York, NY. https://doi.org/10.1007/978-0-387-30440-3_96

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