Published November 1991
| Published
Book Section - Chapter
Open
Hyper-redundant robot mechanisms and their applications
- Creators
- Chirikjian, Gregory S.
- Burdick, Joel W.
Chicago
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Abstract
Hyper-redundant robots have a large or infinite number of degrees of freedom. Such robots are analogous to snakes or tentacles and are useful for operation in highly constrained environments and novel forms of locomotion. The paper reviews newly developed methods for the kinematic analysis of hyper-redundant manipulators. These methods can be applied to a wide variety of hyper-redundant morphologies and lead to very efficient inverse kinematic, path planning, obstacle avoidance, locomotion, and grasping schemes. It also reviews the design and implementation of a planar 30 degree of freedom variable geometry truss hyper-redundant robot.
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, grant #PF-331.Attached Files
Published - CHIiros91.pdf
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Additional details
- Eprint ID
- 30156
- Resolver ID
- CaltechAUTHORS:20120418-101242658
- NASA Graduate Student Researchers Program Fellowship
- Caltech President's Fund
- PF-331
- Created
-
2012-04-18Created from EPrint's datestamp field
- Updated
-
2021-11-09Created from EPrint's last_modified field
- Other Numbering System Name
- INSPEC Accession Number
- Other Numbering System Identifier
- 4199180