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“RobOstrich” Manipulator: A Novel Mechanical Design and Control based on the Anatomy and Behavior of an Ostrich Neck
  • Kazashi Nakano
Kazashi Nakano
The University of Tokyo, The University of Tokyo

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This study provides a novel mechanical design and a control law for tendon-driven flexible manipulator based on the anatomy of an ostrich neck. We carried out a dissection of ostrich neck which clarified muscle attachment site and cross-sectional views of the neck. We proposed a novel wire arrangement and control method, that performs the same movement as the ostrich's neck by integrating our findings from the dissection with previous studies on bird's necks. The implemented manipulator showed that morphology, such as joint angle limit and muscle-tendon arrangement, provides dexterity and structural stability to flexible manipulators. These results are suggestive for biology because they indicate that actual birds may also use the proposed mechanism and control laws.
May 2023Published in IEEE Robotics and Automation Letters volume 8 issue 5 on pages 3062-3069. 10.1109/LRA.2023.3265301