Results 1 to 10 of about 18,674 (285)
Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks [PDF]
Sensors, 2020 Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work
Andrés Martín-Barrio +2 more
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The kinematics of hyper-redundant robot locomotion [PDF]
IEEE Transactions on Automation Science and Engineering, 1995 This paper considers the kinematics of hyper-redundant (or "serpentine") robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of "gaits". The analysis and algorithms are based on a continuous backbone curve model which captures the robot's macroscopic geometry.
Chirikjian, Gregory S., Burdick, Joel W.
exaly +6 more sources
Shape Sensing of Hyper-Redundant Robots Using an AHRS IMU Sensor Network [PDF]
Sensors, 2022 The paper proposes a novel approach for shape sensing of hyper-redundant robots based on an AHRS IMU sensor network embedded into the structure of the robot.
Ciprian Lapusan +2 more
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Structural Optimisation and Design of a Cable-Driven Hyper-Redundant Manipulator for Confined Semi-Structured Environments [PDF]
Sensors, 2022 Structural optimisation of robotic manipulators is critical for any manipulator used in confined semi-structured environments, such as in agriculture. Many robotic manipulators utilised in semi-structured environments retain the same characteristics and ...
Rami Al-Khulaidi +3 more
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A hyper-redundant manipulator [PDF]
IEEE Robotics & Automation Magazine, 1994 "Hyper-redundant" manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping.
Chirikjian, Gregory S., Burdick, Joel W.
openaire +4 more sources
Real time optimum trajectory generation for redundant/hyper-redundant serial industrial manipulators [PDF]
International Journal of Advanced Robotic Systems, 2017 This article presents an optimization technique to develop minimum energy consumption trajectories for redundant/hyper-redundant manipulators with predefined kinematic and dynamic constraints.
Kagan Koray Ayten +2 more
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A Modular Control Scheme for Hyper-Redundant Robots [PDF]
International Journal of Advanced Robotic Systems, 2015 Hyper-redundant robots, robots with many degrees of freedom, are considered to be advantageous in many tasks, such as minimally invasive surgery, surveillance and inspection.
Chang Nho Cho +3 more
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Kinematically optimal hyper-redundant manipulator configurations [PDF]
Proceedings 1992 IEEE International Conference on Robotics and Automation, 1995 "Hyper-redundant" robots have a very large or infinite degree of kinematic redundancy. This paper develops new methods for determining "optimal" hyper-redundant manipulator configurations based on a continuum formulation of kinematics. This formulation uses a backbone curve model to capture the robot's essential macroscopic geometric features.
Chirikjian, Gregory S., Burdick, Joel W.
openaire +6 more sources
Kinematic Modelling for Hyper-Redundant Robots—A Structured Guide
Mathematics, 2022 Obtaining mathematical equations to model the kinematics of a hyper-redundant robot is not intuitive and of greater difficulty than for traditional robots.
Diego Cerrillo +2 more
doaj +3 more sources
Design of a cable-driven hyper-redundant robot with experimental validation
International Journal of Advanced Robotic Systems, 2017 This article presents a test bed for comprehensive study of a cable-driven hyper-redundant robot in terms of mechanical design, kinematics analysis, and experimental verification.
Lei Tang, Guoying Gu, Xiangyang Zhu
exaly +2 more sources