{"id":751,"date":"2022-04-04T14:05:03","date_gmt":"2022-04-04T05:05:03","guid":{"rendered":"http:\/\/www.sawada.phys.waseda.ac.jp\/?page_id=751"},"modified":"2024-09-11T15:41:47","modified_gmt":"2024-09-11T06:41:47","slug":"%e3%83%a1%e3%83%b3%e3%83%90%e3%83%bc-%e5%b0%8f%e9%87%8e%e7%80%ac-%e4%ba%ae","status":"publish","type":"page","link":"https:\/\/www.sawada.phys.waseda.ac.jp\/?page_id=751","title":{"rendered":"\u30e1\u30f3\u30d0\u30fc | \u5c0f\u91ce\u702c \u4eae"},"content":{"rendered":"

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Continuum robots have body structures that mimic the flexible bodies of living creatures, such as elephants’ trunks and snakes, and their features are expected to find applications in work in complex environments, such as inside collapsed buildings, and in minimally invasive surgery.
\nOne of the advantages of the continuum robots is that they can grasp objects by wrapping around. The robot arms commonly used for grasping objects are limited by the shape and size of the gripper, whereas the whole-arm grasping by continuum robots can handle a wider variety of objects because of its coiled grasping. Furthermore, the contact points between the robot and the object are dispersed, which reduces the actuation force and improves the ability to manipulate heavy objects.
\nHowever, the flexibility of continuum robots makes them difficult to achieve rigidity to withstand object grasping, and most previous studies have used a structure with restrictions on the direction of motion to enable grasping.
\nI am developing a robot that uses ball joints as flexible joints with high rigidity and no restriction on the direction of motion, and have confirmed that the robot can grasp an object by wrapping around it without restriction on the direction of motion. Currently, I am working on developing a system that recognizes and grasps objects autonomously like a real living organism by introducing image processing using stereo cameras and machine learning for controlling the robot.<\/p>\n

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