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dc.contributor.authorWilmot, A
dc.contributor.authorHoward, Ian
dc.date.accessioned2022-02-08T13:56:40Z
dc.date.available2022-02-08T13:56:40Z
dc.date.issued2021-10-31
dc.identifier.isbn9783030891763
dc.identifier.issn0302-9743
dc.identifier.issn1611-3349
dc.identifier.urihttp://hdl.handle.net/10026.1/18704
dc.description.abstract

Here we describe the initial development of a 3D printed modular robotic segment that is driven by variable stiffness actuators (VSAs). The novelty of the presented work is the combination of cost-effective antagonist VSAs with mechanical modularity: this enables multiple segments to be used either as a stand-alone serpentine robot or as compliant joints that can easily be integrated into other robotic systems. The VSAs are comprised of antagonist DC motor pairs that separately actuate two orthogonal revolute joints via a viscoelastic tendon-based transmission system. The simplistic nature of the design also aims to minimize the effects of joint coupling. Joint-level control is performed on a microcontroller which transmits motor current and joint position information over USB to a computer. ROS packages, including those needed for Gazebo and MoveIt! were created to enable physics simulations and motion-planning of either a single isolated segment, multiple chained segments, or some combination of segments and other robotic devices. We present results of a preliminary physical prototype of one such robotic segment whose joint positions and co-contractions were manually controlled using a gamepad and subsequently visualized using the developed ROS packages. The dynamics of the VSA were analyzed and the joint-torque equations were derived as functions of tendon parameters, joint angles, and motor electrical characteristics.

dc.format.extent228-237
dc.language.isoen
dc.publisherSpringer International Publishing
dc.subjectBioengineering
dc.title3D Printed Mechanically Modular Two-Degree-Of-Freedom Robotic Segment Utilizing Variable-Stiffness Actuators
dc.typeconference
dc.typeConference Proceeding
plymouth.volume13054 LNAI
plymouth.publication-statusPublished
plymouth.journalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
dc.identifier.doi10.1007/978-3-030-89177-0_24
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
dcterms.dateAccepted2021-07-01
dc.rights.embargodate2022-10-31
dc.identifier.eissn1611-3349
dc.rights.embargoperiodNot known
rioxxterms.versionofrecord10.1007/978-3-030-89177-0_24
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserved
rioxxterms.licenseref.startdate2021
rioxxterms.typeConference Paper/Proceeding/Abstract


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