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This paper deals with geometric models of a class of multisection bionic manipulator applied to RobotinoXT. This bio-inspired flexible manipulator is a small version of a multisection pneumatically actuated, called Bionic Handling Assistant robot (BHA), where each segment is composed by a set of backbones tubes. Experimental results are presented to compare the analytical and practical analysis. These models are the first steps to synthesis of kinematic and dynamic model of this class of bionic manipulator, which will be used to design an adequate control for the whole robot.