Date of Award
8-2012
Document Type
Thesis
Degree Name
Master of Science (MS)
Legacy Department
Electrical Engineering
Committee Chair/Advisor
Walker, Ian D
Committee Member
Green , Keith E
Committee Member
Groff , Richard
Abstract
This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots.
The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.
Recommended Citation
Mutlu, Alper, "CONTINUUM LIMBED ROBOTS FOR LOCOMOTION" (2012). All Theses. 1440.
https://tigerprints.clemson.edu/all_theses/1440