@inproceedings{a83c13e08e624bce91b766829981091a,
title = "Inverse and direct model of a continuum manipulator inspired by the octopus arm",
abstract = "The extraordinary manipulation capabilities of the octopus arm generate a big interest in the robotics community. Many researchers have put a big effort in the design, modelling and control of continuum manipulators inspired by the octopus arm. New mathematical tools could be introduced in the robotics community and new sources of inspiration are needed in order to simplify the use of the continuum manipulator. A geometrical exact approach for direct model and a Jacobian method for the inverse model are implemented for a continuum manipulator driven by cables. The first experimental results show an average tip error of less than 6\% of the manipulator length, and a good numerical performance to solve the inverse kinetics model.",
keywords = "continuum manipulator, continuum mechanics, inverse kinematics, soft robotics, Tendon-driven manipulator",
author = "Michele Giorelli and Federico Renda and Andrea Arienti and Marcello Calisti and Matteo Cianchetti and Gabriele Ferri and Cecilia Laschi",
note = "Funding Information: This work was supported in part by the European Commission in the ICT-FET OCTOPUS Integrating Project, under contract no. 231608.; 1st International Conference on Biomimetic and Biohybrid Systems, Living Machines 2012 ; Conference date: 09-07-2012 Through 12-07-2012",
year = "2012",
doi = "10.1007/978-3-642-31525-1\_36",
language = "British English",
isbn = "9783642315244",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
pages = "347--348",
booktitle = "Biomimetic and Biohybrid Systems - First International Conference, Living Machines 2012, Proceedings",
}