Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/14167
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Emet, Hazal | - |
dc.contributor.author | Gür, Berke | - |
dc.contributor.author | Dede, Mehmet İsmet Can | - |
dc.date.accessioned | 2024-01-06T07:22:30Z | - |
dc.date.available | 2024-01-06T07:22:30Z | - |
dc.date.issued | 2024 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.uri | https://doi.org/10.1017/S026357472300139X | - |
dc.identifier.uri | https://hdl.handle.net/11147/14167 | - |
dc.description.abstract | The increase of human presence in the subsea and seabed environments necessitates the development of more capable and highly dexterous, innovative underwater manipulators. Biomimetic soft-robot arms represent a promising candidate for such manipulation systems. However, the well-known modeling techniques and control theories of traditional rigid robots do not apply to soft robots. The challenges of kinematic and dynamic modeling of soft robots with infinite degrees of freedom require the development of dedicated modeling methods. A novel procedure for representing soft-robotic arms and their motion in a rigid-body simulation environment is proposed in this paper. The proposed procedure relies on the piecewise constant curvature approach to simplify the very complex model of hyper-redundant soft-robotic arms, making it suitable for real-time applications. The proposed method is implemented and verified to be used in model-mediated teleoperation of the soft arms of a biomimetic robotic squid designed for underwater manipulation as a case study. © 2023 The Author(s). Published by Cambridge University Press. | en_US |
dc.language.iso | en | en_US |
dc.publisher | Cambridge University Press | en_US |
dc.relation.ispartof | Robotica | en_US |
dc.rights | info:eu-repo/semantics/closedAccess | en_US |
dc.subject | Biomimetic robots | en_US |
dc.subject | Novel applications of Robotics | en_US |
dc.subject | Serial manipulator design and kinematics | en_US |
dc.subject | Soft robots | en_US |
dc.subject | Teleoperation | en_US |
dc.subject | unmanned underwater vehicles | en_US |
dc.subject | Biomimetics | en_US |
dc.subject | Machine design | en_US |
dc.title | The design and kinematic representation of a soft robot in a simulation environment | en_US |
dc.type | Article | en_US |
dc.authorid | 0000-0001-6220-6678 | - |
dc.institutionauthor | Emet, Hazal | - |
dc.institutionauthor | Dede, Mehmet İsmet Can | - |
dc.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
dc.identifier.volume | 42 | en_US |
dc.identifier.issue | 1 | en_US |
dc.identifier.startpage | 139 | en_US |
dc.identifier.endpage | 152 | en_US |
dc.identifier.scopus | 2-s2.0-85177169148 | en_US |
dc.relation.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
dc.identifier.doi | 10.1017/S026357472300139X | - |
dc.authorscopusid | 57842042100 | - |
dc.authorscopusid | 18036938000 | - |
dc.authorscopusid | 55561029700 | - |
item.fulltext | No Fulltext | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.grantfulltext | none | - |
item.cerifentitytype | Publications | - |
item.openairetype | Article | - |
item.languageiso639-1 | en | - |
crisitem.author.dept | 01. Izmir Institute of Technology | - |
crisitem.author.dept | 03.10. Department of Mechanical Engineering | - |
Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection |
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