Robostrich Arm: Wire-Driven High-DOF Underactuated Manipulator
Kenji Misu*1, Masahiro Ikeda*2, Keung Or*2, Mitsuhito Ando*3, Megu Gunji*4, Hiromi Mochiyama*1, and Ryuma Niiyama*2
*1University of Tsukuba
1-1-1 Tennodai, Tsukuba, Ibaraki 305-8577, Japan
*2The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan
1-1-1 Izumino, Itakura-machi, Ora-gun, Gunma 374-0113, Japan
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.
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