Results 251 to 260 of about 1,406,587 (292)

A controller for hyper-redundant cooperative robots

Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), 2002
This paper proposes a new method for multichain hyper-redundant robot models. A hyper-redundant model is a manipulator with a great flexibility-a tentacle model which can achieve any shape in space. We will discuss a system formed by hyper-redundant manipulators grasping a common object with hardpoint control.
Mircea Ivanescu, Viorel Stoian
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Shape control of hyper redundant manipulator

Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002
This paper shows a control law to let hyper redundant manipulators be in specified shapes. Such shape controls are necessary for whole arm manipulation, crevice penetrations and obstacle avoidance. The proposed control is complete local-wise law. Each controller can determine its joint motion by itself while every controller has the same hardware and ...
Hisato Kobayashi, Sjigeo Ohtake
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An experimental hyper redundant serpentine robot

2010 IEEE International Conference on Systems, Man and Cybernetics, 2010
Terrestrial locomotion can be broadly classified into three categories based on their mechanism e.g. wheeled, legged and limbless locomotion. Most fascinating of these are the limbless locomotion of a serpent. Wheeled locomotion and legged locomotion have already been studied by many researchers in detail.
Atanu Maity, Somjyoti Majumder, Sukamal Ghosh   +2 more
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A Distributed Control For Hyper Redundant Manipulator

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
This paper proposes a distributed con- trol law for a hyper redundant manipulator which has huge number of links. and moves in 3-dimensional gravity free space. Each controller can independently determine the way how to move each link. The necessary information for the controller is only on the target position, the po- sition of the end-effector and ...
Hisato Kobayashi, Etsujiro Shimemura, Kazuyoshi Suzuki   +2 more
openaire   +2 more sources

Control of a hyper-redundant robot

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010), 2010
This paper deals with the subject of visual control of a hyper-redundant robot. This type of arm changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any position and orientation in the 3D space.
I. Dinulescu, A. Predescu, G. Boccolato, R.T. Tanasie, D. Cojocaru   +4 more
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Analysis of Hyper-Redundant Manipulators

Volume 7A: 17th Biennial Conference on Mechanical Vibration and Noise, 1999
Abstract A new approach to solve the inverse kinematic problem for hyper-redundant planar manipulators following any desired path is presented. The method is singularity free and provides a robust solution even in the event of mechanical failure of some of the robot actuators. The approach is based on defining virtual layers and dividing
Farshid Maghami Asl, Hashem Ashrafiuon, C. Nataraj   +2 more
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A local feedback law for hyper-redundant manipulators

Advanced Robotics, 1994
This paper shows that a set of equal local linear controllers can accomplish PTP controls for highly redundant manipulators. The proposed control architecture is very simple and robust, while the conventional hierarchical controls require complex calculation and need to be sensitive to accidents.
Hisato Kobayashi, Sjigeo Ohtake
openaire   +2 more sources

Kinematics of Hyper-Redundant Manipulators

1991
A “hyper-redundant” manipulator is a redundant manipulator with a large or infinite relative degree of redundancy. This paper presents a novel approach to the forward and inverse kinematics of these manipulators which is based on the differential geometry of curves.
Chirikjian, Gregory S., Burdick, Joel W.
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The Kinematics of Hyper-Redundant Robots

1998
Hyper-Redundant robots have a large or infinite degree of kinematic redundancy. This paper reviews some simple hyper-redundant robot modeling and task planning techniques. These methods are based on a ‘backbone curve’ that captures the robot’s macroscopic geometric features.
Joel W. Burdick, Gregory S. Chirikjian
openaire   +1 more source

VISHARD10, a novel hyper-redundant haptic interface

12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings., 2004
This paper presents and discusses the design of a novel hyper-redundant haptic interface with 10 degrees-of-freedom (DOF). The use of additional joints allow:; a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved.
Marc Ueberle, Nico Mock, Martin Buss
openaire   +1 more source