Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Control of soft robots remains nowadays a big challenge, as it does in the larger category of continuum robots.  a direct and inverse kinetics models are described for a non-constant curvature structure. A major effort has been put recently in modelling and controlling constant curvature structures, such as cylindrical shaped manipulators. Manipulators with non-constant curvature, on the other hand, have been treated with a piecewise constant curvature approximation. In this work a non-constant curvature manipulator with a conical shape is built, taking inspiration from the anatomy of the octopus arm. The choice of a conical shape manipulator made of soft material is justified by its enhanced capability in grasping objects of different sizes. A different approach from the piecewise constant curvature approximation is employed for direct and inverse kinematics model. A continuum geometrically exact approach for direct kinetics model and a Jacobian method for inverse case are proposed. They are validated experimentally with a prototype soft robot arm moving in water. Results show a desired tip position in the task-space can be achieved automatically with a satisfactory degree of accuracy.
['Michele Giorelli', 'Federico Renda', 'Marcello Calisti', 'Andrea Arienti', 'Gabriele Ferri', 'Cecilia Laschi']
I am writing a research paper on a idea A two dimensional inverse kinetics model of a cable driven manipulator inspired by the octopus arm
[{"from": "human", "value": "I am writing a research paper on a idea A two dimensional inverse kinetics model of a cable driven manipulator inspired by the octopus arm"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Control of soft robots remains nowadays a big challenge, as it does in the larger category of continuum robots.  a direct and inverse kinetics models are described for a non-constant curvature structure. A major effort has been put recently in modelling and controlling constant curvature structures, such as cylindrical shaped manipulators. Manipulators with non-constant curvature, on the other hand, have been treated with a piecewise constant curvature approximation. In this work a non-constant curvature manipulator with a conical shape is built, taking inspiration from the anatomy of the octopus arm. The choice of a conical shape manipulator made of soft material is justified by its enhanced capability in grasping objects of different sizes. A different approach from the piecewise constant curvature approximation is employed for direct and inverse kinematics model. A continuum geometrically exact approach for direct kinetics model and a Jacobian method for inverse case are proposed. They are validated experimentally with a prototype soft robot arm moving in water. Results show a desired tip position in the task-space can be achieved automatically with a satisfactory degree of accuracy."}]