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2. Modeling and Control of Continuum Body

Author

Hirai, Shinichi, Mochiyama, Hiromi, Nakajima, Kohei, Akashi, Nozomi, Rozenberg, Grzegorz, Founding Editor, Bäck, Thomas, Series Editor, Kari, Lila, Series Editor, Stepney, Susan, Series Editor, Suzumori, Koichi, editor, Fukuda, Kenjiro, editor, Niiyama, Ryuma, editor, and Nakajima, Kohei, editor

Published
2023
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3. Soft Manipulation and Locomotion

Author

Hirai, Shinichi, Niiyama, Ryuma, Nakamura, Taro, Umedachi, Takuya, Nakata, Toshiyuki, Tanaka, Hiroto, Rozenberg, Grzegorz, Founding Editor, Bäck, Thomas, Series Editor, Kari, Lila, Series Editor, Stepney, Susan, Series Editor, Suzumori, Koichi, editor, Fukuda, Kenjiro, editor, Niiyama, Ryuma, editor, and Nakajima, Kohei, editor

Published
2023
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4. Soft Manipulation and Locomotion

Author

Hirai, Shinichi, primary, Niiyama, Ryuma, additional, Nakamura, Taro, additional, Umedachi, Takuya, additional, Nakata, Toshiyuki, additional, and Tanaka, Hiroto, additional

Published
2023
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6. Comparative Study of Robotics Curricula

Author

Shibata, Mizuho, Demura, Kosei, Hirai, Shinichi, and Matsumoto, Akihiro

Abstract

Contribution: The information described in this study provides a starting point for discussing an effective robotics curriculum offered by any engineering university or institute. Background: Robotics is a multidisciplinary field that includes mechanical engineering, electrical and electronic engineering, and computer science. Several universities have established departments of robotics to teach their students robotics education; however, a comprehensive curriculum to deliver robotics education has not yet been fully developed. Research Questions: What are the significant component courses offered by existing departments of robotics? Methodology: This article investigates component courses among departments of robotics through a title-based aggregation of existing courses and textual analyses. Findings: From a title-based aggregation of robotics curricula from 19 departments established by 2018, control engineering, programming, technical drawing/design, and electronic engineering/electronic circuits were found to be the core courses. From textual analyses of the curricula, robotics departments' course titles were similar to those of mechanical engineering departments.

Published
2021
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12. Concluding Remarks

Author

Ho, Anh-Van, Hirai, Shinichi, Siciliano, Bruno, Series editor, Khatib, Oussama, Series editor, Ho, Anh-Van, and Hirai, Shinichi

Published
2014
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19. Introduction

Author

Ho, Anh-Van, Hirai, Shinichi, Siciliano, Bruno, Series editor, Khatib, Oussama, Series editor, Ho, Anh-Van, and Hirai, Shinichi

Published
2014
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32. Dynamic Insertion of Bendable Flat Cables with Variation Based on Shape Returning Points

Author

Kataoka, Yuuki, Hirai, Shinichi, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Goebel, Randy, editor, Siekmann, Jörg, editor, Wahlster, Wolfgang, editor, Jeschke, Sabina, editor, Liu, Honghai, editor, and Schilberg, Daniel, editor

Published
2011
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49. Analytical Modeling of a Soft Pneu-Net Actuator Subjected to Planar Tip Contact.

Author

Sachin, Wang, Zhongkui, and Hirai, Shinichi

Subjects
ROBOT hands, COMPLIANT platforms, ACTUATORS, AIR pressure, SOFT robotics
Abstract

Soft actuators are compliant structures that are generally made of elastomers and generates large deformation. The behavior of these structures cannot be estimated accurately using infinitesimal strain theories. The objective of soft robotics applications is the controlled large deformation of these structures. In this article, we propose an analytical model for a pneu-net soft actuator. The model is based on the Euler–Bernoulli finite strain hyperelastic thin cantilever beam theory. The deformation of the air chambers is modeled using finite strain membrane theory. The analytical model is developed for two different states of the actuator: 1) free space; and 2) when the actuator was subjected to tip contact. The proposed theoretical model predicts the deformation and force characteristics of the actuator for the grasping state. The theoretical formulation of the developed model is different from previously developed infinitesimal strain models for the actuator, as it considers the axial stretch and forces applied to the actuator. In addition, it can be theoretically implemented on similar structured actuators for various applications. The theoretically calculated deformation and force characteristics of different actuators are compared with the finite element (FE) model and experimental characteristics. The results suggest that the proposed model can predict the actuator deformation and force characteristics as accurately as the FE model, but the computation time of the proposed model is less than 1% that of the FE model. The proposed model is further implemented on a three-finger gripper to predict the air pressure required for a stable grasp of different objects and is validated experimentally. [ABSTRACT FROM AUTHOR]

Published
2022
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