“RobOstrich” Manipulator: A Novel Mechanical Design and Control Based on the Anatomy and Behavior of an Ostrich Neck

摘要

Flexible manipulators have high degrees of freedom and deformability, enabling dexterous movements and allowing for unexpected contacts with the environment. Underactuated tendon-drive mechanisms are the most widely adopted because of their simplicity and effectiveness. However, they suffer from difficulty in modeling and in achieving dexterity and structural stability. In this letter, we focus on ostriches, which can dexterously and swiftly move their flexible necks. We carried out a detailed dissection of ostrich necks and identified a specific musculo-tendon-skeletal structure. Based on the findings related to the structure, we came up with a novel mechanical design and control method manifested as a “RobOstrich” manipulator. Our actual robot experiments confirm that it exhibits similar movement patterns as an ostrich neck. It is also flexible yet structurally stable, enabling dexterous reaching movements. This work also contributes to biology by providing constructive understanding of the functionality of the morphology of an ostrich neck.