An Elephant's Trunk-Inspired Robotic Arm - Trajectory Determination and Control

摘要

A hyper-redundant robotic arm, which is inspired by an elephant's trunk, was specifically designed as a mechatronic solution for safe collaboration with human beings by following a new approach for safe Human-Robot Interaction (HRI). Due to its hyper-redundant characteristics, it is able to move in highly flexible patterns, just like an elephant's trunk. After introducing the technical concept, the basics to compute trajectories will be presented. Furthermore, the control approach will be described.