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

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