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Dynamic Model of a Multibending Soft Robot Arm Driven by Cables
Open accessAbstract
The new and promising field of soft robotics has many open areas of research such as the development of an exhaustive theoretical and methodological approach to dynamic modeling. To help contribute to this area of research, this paper develops a dynamic model of a continuum soft robot arm driven by cables and based upon a rigorous geometrically exact approach. The model fully investigates both dynamic interaction with a dense medium and the coupled tendon condition. The model was experimentally validated with satisfactory results, using a soft robot arm working prototype inspired by the octopus arm and capable of multibending. Experimental validation was performed for the octopus most characteristic movements: bending, reaching, and fetching. The present model can be used in the design phase as a dynamic simulation platform and to design the control strategy of a continuum robot arm moving in a dense medium.
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Citations
Cited by
Design, fabrication and control of soft robots
Rus, D., & Tolley, M. T. (2015) · Nature · doi:10.1038/nature14543 · Cited by 5,825
Soft robotics: Technologies and systems pushing the boundaries of robot abilities
Laschi, C., Mazzolai, B., & Cianchetti, M. (2016) · Science Robotics · doi:10.1126/scirobotics.aah3690 · Cited by 1,570
Self-citationPassive Particle Jamming and Its Stiffening of Soft Robotic Grippers
Li, Y., Chen, Y., Yang, Y., & Wei, Y. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2636899 · Cited by 331
Metadata
- Authors
- Renda, F., Giorelli, M., Calisti, M., Cianchetti, M., & Laschi, C.
- Venue
- IEEE Transactions on Robotics
- Published
- 2014-10
- Volume
- 30
- Issue
- 5
- Pages
- 1109-1122
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2073677587
- Cited by
- 482
- References
- 0
- FWCI
- 9.10
- Type
- journal article
- Language
- en
- Open access
- green
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- CoChat. (2026). Citation check: Dynamic Model of a Multibending Soft Robot Arm Driven by Cables. https://app.cochat.ai/papers/10.1109/tro.2014.2325992
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- Renda, F., Giorelli, M., Calisti, M., Cianchetti, M., & Laschi, C. (2014). Dynamic Model of a Multibending Soft Robot Arm Driven by Cables. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2014.2325992
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
