Published May 1993
| Published
Book Section - Chapter
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Design and experiments with a 30 DOF robot
- Creators
- Chirikjian, Gregory S.
- Burdick, Joel W.
Abstract
A 30 degree-of-freedom (DOF) planar hyper-redundant manipulator is constructed in order to validate and demonstrate the authors' previous work on a framework for hyper-redundant robot kinematic analysis and algorithm development. The implementation of this robot is reviewed, and experimental work in hyper-redundant manipulation, obstacle avoidance, and locomotion is summarized. Potential benefits of high-DOF manipulators include superior obstacle avoidance ability, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping.
Additional Information
© 1993 IEEE. Date of Current Version: 06 August 2002. This work was sponsored in part by a NASA Graduate Student Researchers Program fellowship (for the first author), the Caltech President's Fund, #PF-331, and the National Science Foundation, grant MSS-901779.Attached Files
Published - CHIicra93.pdf
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Additional details
- Eprint ID
- 29539
- Resolver ID
- CaltechAUTHORS:20120301-083830622
- NASA Graduate Student Researchers Program Fellowship
- PF-331
- Caltech President's Fund
- MSS-901779
- NSF
- Created
-
2012-03-07Created from EPrint's datestamp field
- Updated
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2021-11-09Created from EPrint's last_modified field