Published April 1991
| Published
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Kinematics of hyper-redundant robot locomotion with applications to grasping
- Creators
- Chirikjian, Gregory S.
- Burdick, Joel W.
Abstract
Simple schemes for analyzing the kinematics of hyper-redundant robot locomotion over solid terrain are considered. These schemes are based on the concepts of amplitude varying and traveling wave gaits, which are idealized models of inchworm and caterpillar locomotion. The kinematics of these gaits is formulated for hyper-redundant robots of both constant and variable length for locomotion over both flat and irregular terrain. Hyper-redundant locomotion concepts are applied to a novel grasping and fine manipulation scheme based on a grasping wave.
Additional Information
© 1991 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), and the Caltech President's Fund, #PF-331.Attached Files
Published - CHIicra91b.pdf
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Additional details
- Eprint ID
- 30154
- Resolver ID
- CaltechAUTHORS:20120418-094435054
- NASA Graduate Student Research Fellowship
- PF-331
- Caltech President's Fund
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2012-04-18Created from EPrint's datestamp field
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2021-11-09Created from EPrint's last_modified field