A Modular Control Scheme for Hyper-Redundant Robots
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.
Jaebum Son, Kwang Gi Kim
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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 +4 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
doaj +2 more sources
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
doaj +2 more sources
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 +4 more
doaj +2 more sources
International Journal of Advanced Robotic Systems, 2021 Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching
Liangliang Zhao +2 more
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Position control for hybrid infinite-continuous hyper-redundant robot [PDF]
MATEC Web of Conferences, 2021 This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed.
Pană Cristina +7 more
doaj +2 more sources
Inverse displacement analysis of a hyper-redundant bionic trunk-like robot
International Journal of Advanced Robotic Systems, 2020 This article presents the inverse displacement analysis of a hyper-redundant bionic trunk-like robot. The hyper-redundant bionic trunk-like robot is constituted of some parallel mechanism modules in series.
Yongjie Zhao, Yongxing Zhang
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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, Jungang Wang, Guoying Gu
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Real time optimum trajectory generation for redundant/hyper-redundant serial industrial manipulators
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
exaly +2 more sources