Open AccessRobostrich Arm: Wire-Driven High-DOF Underactuated Manipulator
Author(s) -
Kenji Misu,
Masahiro Ikeda,
Keung Or,
Makoto Ando,
Megu Gunji,
Hiromi Mochiyama,
Ryuma Niiyama
Publication year - 2022
Publication title -
journal of robotics and mechatronics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.257
H-Index - 19
eISSN - 1883-8049
pISSN - 0915-3942
DOI - 10.20965/jrm.2022.p0328
Subject(s) - robotic arm , lift (data mining) , underactuation , task (project management) , computer science , robotics , manipulator (device) , head (geology) , human arm , control theory (sociology) , oblique case , simulation , robot , artificial intelligence , engineering , geology , data mining , linguistics , philosophy , control (management) , systems engineering , geomorphology
We propose a wire-driven robotic arm inspired by the ostrich neck. It can pick up a small piece of feed from the ground while colliding with it. This arm is named robostrich arm (shortened form of robotic ostrich arm). It consists of a serial chain of 18 rigid bodies connected by free rotational joints that are designed to have angle limitations similar to the bones of a real ostrich. It moves in a vertical plane and is driven by two DC motors through antagonistic wires. The task considered in this study was to lift the arm tip (the “head” of the robostrich arm). The experimental results indicate that the tensioner balance and timing between the two wires are important for achieving the head-up task. This paper indicates the contribution of antagonist muscles to the performance of head-up tasks by high-degree-of-freedom underactuated manipulators in robotics and ostrich necks in biological studies.