How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance
Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2021-02-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2020.630245/full |
| _version_ | 1818870483388465152 |
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| author | Priyanka Rao Quentin Peyron Sven Lilge Jessica Burgner-Kahrs |
| author_facet | Priyanka Rao Quentin Peyron Sven Lilge Jessica Burgner-Kahrs |
| author_sort | Priyanka Rao |
| collection | DOAJ |
| description | Tendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results. |
| first_indexed | 2024-12-19T12:07:44Z |
| format | Article |
| id | doaj.art-9650deb3e13f4ea1bac07c2a5d1f7065 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-19T12:07:44Z |
| publishDate | 2021-02-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-9650deb3e13f4ea1bac07c2a5d1f70652022-12-21T20:22:18ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442021-02-01710.3389/frobt.2020.630245630245How to Model Tendon-Driven Continuum Robots and Benchmark Modelling PerformancePriyanka RaoQuentin PeyronSven LilgeJessica Burgner-KahrsTendon actuation is one of the most prominent actuation principles for continuum robots. To date, a wide variety of modelling approaches has been derived to describe the deformations of tendon-driven continuum robots. Motivated by the need for a comprehensive overview of existing methodologies, this work summarizes and outlines state-of-the-art modelling approaches. In particular, the most relevant models are classified based on backbone representations and kinematic as well as static assumptions. Numerical case studies are conducted to compare the performance of representative modelling approaches from the current state-of-the-art, considering varying robot parameters and scenarios. The approaches show different performances in terms of accuracy and computation time. Guidelines for the selection of the most suitable approach for given designs of tendon-driven continuum robots and applications are deduced from these results.https://www.frontiersin.org/articles/10.3389/frobt.2020.630245/fullsoft manipulatorsoft armtendon actuationmodellingsoft robot |
| spellingShingle | Priyanka Rao Quentin Peyron Sven Lilge Jessica Burgner-Kahrs How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance Frontiers in Robotics and AI soft manipulator soft arm tendon actuation modelling soft robot |
| title | How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance |
| title_full | How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance |
| title_fullStr | How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance |
| title_full_unstemmed | How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance |
| title_short | How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance |
| title_sort | how to model tendon driven continuum robots and benchmark modelling performance |
| topic | soft manipulator soft arm tendon actuation modelling soft robot |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2020.630245/full |
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