Results 11 to 20 of about 1,148,359 (296)
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”.
G S Chirikjian, J W Burdick
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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 ...
Chirikjian, Gregory S., Burdick, Joel W.
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CP-QRRT*: A Path Planning Algorithm for Hyper-Redundant Manipulators Considering Joint Angle Constraints [PDF]
SensorsA novel algorithm (CP-QRRT*) is proposed for the path planning tasks of hyper-redundant manipulators (HRMs) in confined spaces, addressing the issues of unmet joint angle constraints, redundant planning paths, and long planning times present in previous ...
Tianya Wang +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.
Chirikjian, Gregory S., Burdick, Joel W.
core +5 more sources
The position control of a spatial binary hyper redundant manipulator through its inverse kinematics
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013 This article is about the position control of a binary hyper redundant manipulator, which is driven by pneumatic on-off actuators. The end platform of the binary hyper redundant manipulator bears a small fine tuning manipulator, which is a continuously ...
Atilla Bayram, M Kemal Ozgoren
exaly +2 more sources
Control of hyper-redundant robot using QDSEGA
Proceedings of the 41st SICE Annual Conference. SICE 2002., 2002 We consider a flexible autonomous system. To realize the system, we employ a hyper-redundant system (a flexible hardware system) and reinforcement learning controller "QDSEGA" (Q-learning with structuring exploration space based on genetic ...
Matsuno, Fumitoshi, Ito, Kazuyuki
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A Computational Model of Hybrid Trunk-like Robots for Synergy Formation in Anticipation of Physical Interaction [PDF]
BiomimeticsTrunk-like robots have attracted a lot of attention in the community of researchers interested in the general field of bio-inspired soft robotics, because trunk-like soft arms may offer high dexterity and adaptability very similar to elephants and ...
Pietro Morasso
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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
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Path planning of hyper‐redundant manipulators for narrow spaces
IET Cyber-systems and Robotics, 2022 Compared with the traditional manipulator, the hyper‐redundant manipulator has the advantage of high flexibility, which is particularly suitable for all kinds of complex working environments.
Haoxiang Su +5 more
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IEEE Access, 2020 This paper presents an adaptive caging configuration design algorithm of the hyper-redundant manipulator for dysfunctional satellite pre-capture. Taking advantages of the extreme flexibility and hyper-redundancy, the hyper-redundant manipulator wraps its
Wenya Wan, Chong Sun, Jianping Yuan
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