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In disaster relief operations, lives can depend on timely location and safe removal of trapped and often injured people within damaged infrastructure (collapsed buildings, etc.). Further, these operations must be carried out without further collapsing structures within the environment. An emerging class of rope-like continuous backbone “continuum” robots provides new capabilities to address these...
Soft limb locomotion is a relatively new and challenging research field. However, soft limbs can not yet transition to practical application due to difficulties associated with control methods. Motivated by this research problem, in this paper, we investigate the performance of energy based control of underactuated soft limbed systems. We augment the previously reported energy shaping function for...
In this paper, we analyze and discuss the potential for continuous form “continuum” appendages to transform the nature of robotic traversal of uneven terrain. 12Continuum robots are in many senses “dual” to traditional robot structures, with their inherent capabilities featuring strengths in areas that are key weaknesses for conventional robots. These capabilities match well to current challenges...
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