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dc.contributor.authorMarchese, Andrew Dominic
dc.contributor.authorKatzschmann, Robert Kevin
dc.contributor.authorRus, Daniela L
dc.date.accessioned2018-04-06T21:52:05Z
dc.date.available2018-04-06T21:52:05Z
dc.date.issued2014-09
dc.identifier.isbn978-1-4799-6934-0
dc.identifier.isbn978-1-4799-6931-9
dc.identifier.issn2153-0858
dc.identifier.issn2153-0866
dc.identifier.urihttp://hdl.handle.net/1721.1/114602
dc.description.abstractSoft continuum manipulators have the advantage of being more compliant and having more degrees of freedom than rigid redundant manipulators. This attribute should allow soft manipulators to autonomously execute highly dexterous tasks. However, current approaches to motion planning, inverse kinematics, and even design limit the capacity of soft manipulators to take full advantage of their inherent compliance. We provide a computational approach to whole arm planning for a soft planar manipulator that advances the arm's end effector pose in task space while simultaneously considering the arm's entire envelope in proximity to a confined environment. The algorithm solves a series of constrained optimization problems to determine locally optimal inverse kinematics. Due to inherent limitations in modeling the kinematics of a highly compliant soft robot and the local optimality of the planner's solutions, we also rely on the increased softness of our newly designed manipulator to accomplish the whole arm task, namely the arm's ability to harmlessly collide with the environment. We detail the design and fabrication of the new modular manipulator as well as the planner's central algorithm. We experimentally validate our approach by showing that the robotic system is capable of autonomously advancing the soft arm through a pipe-like environment in order to reach distinct goal states.en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (grant number NSF IIS1226883)en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (grant number NSF CCF1138967)en_US
dc.description.sponsorshipNational Science Foundation (U.S.). Graduate Research Fellowship Program (primary award number 1122374)en_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/IROS.2014.6942614en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceKatzschmannen_US
dc.titleWhole arm planning for a soft and highly compliant 2D robotic manipulatoren_US
dc.typeArticleen_US
dc.identifier.citationMarchese, Andrew D., Robert K. Katzschmann, and Daniela Rus. “Whole Arm Planning for a Soft and Highly Compliant 2D Robotic Manipulator.” 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (September 2014).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorMarchese, Andrew Dominic
dc.contributor.mitauthorKatzschmann, Robert Kevin
dc.contributor.mitauthorRus, Daniela L
dc.relation.journal2014 IEEE/RSJ International Conference on Intelligent Robots and Systemsen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2018-03-12T13:34:38Z
dspace.orderedauthorsMarchese, Andrew D.; Katzschmann, Robert K.; Rus, Danielaen_US
dspace.embargo.termsNen_US
dc.identifier.orcidhttps://orcid.org/0000-0001-7143-7259
dc.identifier.orcidhttps://orcid.org/0000-0001-5473-3566
mit.licenseOPEN_ACCESS_POLICYen_US


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