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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
Juan Jesús Roldán-Gómez +2 more
exaly +6 more sources
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
exaly +3 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
Jingdong Zhao +2 more
exaly +2 more sources
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.
J W Burdick, G S Chirikjian
exaly +4 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.
Guoying Gu, Limin Zhu, Lei Tang
exaly +2 more sources
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.
Ahmet Dumlu +2 more
exaly +2 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
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 +1 more source
Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables [PDF]
Mechanical Sciences, 2021 The mapping relationship between the driving space and the workspace is essential for the precise control of a cable-driven hyper-redundant robot. For a hyper-redundant robot driven by cables, the relationships between the driving space and the joint ...
L. Zhang +4 more
doaj +1 more source
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 +3 more sources