NIIYAMA RYUMA    Department   Undergraduate School  , School of Science and Technology    Position   Associate Professor
Language	English
Publication Date	2022/04
Type	Academic Journal
Peer Review	Peer reviewed
Title	Robostrich Arm: Wire-Driven High-DOF Underactuated Manipulator
Contribution Type	Co-authored (other than first author)
Journal	JOURNAL OF ROBOTICS AND MECHATRONICS
Journal Type	Another Country
Publisher	FUJI TECHNOLOGY PRESS LTD
Volume, Issue, Page	34(2),pp.328-338
Author and coauthor	Kenji Misu, Masahiro Ikeda, Keung Or, Mitsuhito Ando, Megu Gunji, Hiromi Mochiyama, Ryuma Niiyama
Details	We propose a wire-driven robotic arm inspired by the ostrich neck. It can pick up a small piece of feed from the ground while colliding with it. This arm is named robostrich arm (shortened form of robotic ostrich arm). It consists of a serial chain of 18 rigid bodies connected by free rotational joints that are designed to have angle limitations similar to the bones of a real ostrich. It moves in a vertical plane and is driven by two DC motors through antagonistic wires. The task considered in this study was to lift the arm tip (the "head" of the robostrich arm). The experimental results indicate that the tensioner balance and timing between the two wires are important for achieving the head-up task. This paper indicates the contribution of antagonist muscles to the performance of head-up tasks by high-degree-of-freedom underactuated manipulators in robotics and ostrich necks in biological studies.
DOI	10.20965/jrm.2022.p0328
ISSN	0915-3942