“RobOstrich” Manipulator: A Novel Mechanical Design and Control Based on the Anatomy and Behavior of an Ostrich Neck
“RobOstrich” Manipulator: A Novel Mechanical Design and Control Based on the Anatomy and Behavior of an Ostrich Neck
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DOI：
10.1109/lra.2023.3265301
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发表时间：
2023-05
影响因子：
5.2
通讯作者：
Kazashi Nakano;Megu Gunji;M. Ikeda;Keung Or;Mitsuhito Ando;Katsuma Inoue;H. Mochiyama;K. Nakajima;Ryuma Niiyama;Yasuo Kuniyoshi
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作者：
Kazashi Nakano;Megu Gunji;M. Ikeda;Keung Or;Mitsuhito Ando;Katsuma Inoue;H. Mochiyama;K. Nakajima;Ryuma Niiyama;Yasuo Kuniyoshi
柔性机械臂具有高自由度和可变形性，可实现灵巧的运动并允许与环境发生意想不到的接触。欠驱动腱驱动机构因其简单性和有效性而被最广泛采用。然而，它们在建模以及实现灵活性和结构稳定性方面存在困难。在这封信中，我们重点关注鸵鸟，它们可以灵巧、迅速地移动灵活的脖子。我们对鸵鸟颈部进行了详细解剖，并确定了特定的肌肉肌腱骨骼结构。基于与结构相关的发现，我们提出了一种新颖的机械设计和控制方法，表现为“RobOstrich”机械臂。我们的实际机器人实验证实它表现出与鸵鸟脖子相似的运动模式。它还灵活且结构稳定，可实现灵巧的伸手动作。这项工作还通过提供对鸵鸟颈部形态功能的建设性理解，对生物学做出了贡献。
Flexible manipulators have high degrees of freedom and deformability, enabling dexterous movements and allowing for unexpected contacts with the environment. Underactuated tendon-drive mechanisms are the most widely adopted because of their simplicity and effectiveness. However, they suffer from difficulty in modeling and in achieving dexterity and structural stability. In this letter, we focus on ostriches, which can dexterously and swiftly move their flexible necks. We carried out a detailed dissection of ostrich necks and identified a specific musculo-tendon-skeletal structure. Based on the findings related to the structure, we came up with a novel mechanical design and control method manifested as a “RobOstrich” manipulator. Our actual robot experiments confirm that it exhibits similar movement patterns as an ostrich neck. It is also flexible yet structurally stable, enabling dexterous reaching movements. This work also contributes to biology by providing constructive understanding of the functionality of the morphology of an ostrich neck.