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Open Source Tendon-driven Continuum Mechanism: A Platform for Research in Soft Robotics

Deutschmann, Bastian and Reinecke, Jens and Dietrich, Alexander (2022) Open Source Tendon-driven Continuum Mechanism: A Platform for Research in Soft Robotics. In: 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022, pp. 54-61. IEEE. 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022-04-04 - 2022-04-08, Edinborough. doi: 10.1109/RoboSoft54090.2022.9762144. ISBN 978-1-6654-0828-8.

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Official URL: https://ieeexplore.ieee.org/document/9762144

Abstract

This paper introduces a tendon-driven continuum mechanism platform for research on design, modeling, state estimation, and control of this challenging robotic component envisioned as highly versatile and mechanically robust joint for future robotic systems. To propel the corresponding research areas, a common platform is presented for benchmarking and transferability of results, approaches, and designs among different research groups. The proposed mechanical design including all components is open source, whereas electronics and actuation are off-the-shelf. Research groups are enabled to build up their own system as all relevant CAD-files and assembly instructions are made accessible through GitHub. With that, a fundamental goal in research is achieved and will push continuum joints towards real application scenarios for future soft robots.

Item URL in elib:https://elib.dlr.de/188830/
Document Type:Conference or Workshop Item (Speech)
Title:Open Source Tendon-driven Continuum Mechanism: A Platform for Research in Soft Robotics
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Deutschmann, BastianUNSPECIFIEDhttps://orcid.org/0000-0002-9139-5719UNSPECIFIED
Reinecke, JensUNSPECIFIEDhttps://orcid.org/0000-0001-9256-0766UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Date:4 April 2022
Journal or Publication Title:2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/RoboSoft54090.2022.9762144
Page Range:pp. 54-61
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
Stokes, AdamUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Mazolai, BarbaraUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Publisher:IEEE
ISBN:978-1-6654-0828-8
Status:Published
Keywords:Soft Robots Tendon Driven Systems
Event Title:2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)
Event Location:Edinborough
Event Type:international Conference
Event Start Date:4 April 2022
Event End Date:8 April 2022
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO], R - Mechatronics [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Deutschmann, Dr. -Ing. Bastian
Deposited On:12 Oct 2022 08:41
Last Modified:24 Apr 2024 20:50

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