Results 251 to 260 of about 18,674 (285)
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On hyper‐redundant multiple‐link robots
Laboratory Robotics and Automation, 1996In this article, an approach is presented to effectively optimize the configurations of hyper-redundant multiple-link planar manipulators. Different kinematic and static criteria are utilized, such as the manipulability and the kinematic index, but the emphasis is given on the minimum joint torques.
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A ‘Multilink Spatial Hyper Redundant’ Manipulator
2012Conventionally, industrial robots manipulate their end effector in a pre defined workspace. Structures are made rigid to cater the pay load requirements. Navigation of these arm inspired robots in cluttered environment pose a challenging task, hence the focus on the continuum robots becomes a cynosure.
Praveen Jagadeesan +3 more
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Traveling wave locomotion hyper-redundant mobile robot
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002We propose a novel design for a teleoperated hyper-redundant snake robot. The kinematic structure, composed of links serially connected by revolute joints, allows it to move in a three-dimensional space. Configuration control is obtained by actuation cables and passive springs.
G. Poi, C. Scarabeo, B. Allotta
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Control of hyper-redundant robot using QDSEGA
Proceedings of the 41st SICE Annual Conference. SICE 2002., 2003We 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 algorithm) which is a flexible software system.
Ito, Kazuyuki, Matsuno, Fumitoshi
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The Kinematics of Hyper-Redundant Robots
1998Hyper-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
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1996
It has long been one of the dreams of robotic researchers to realize a hyper-redundant multi-joint arm which, just like elephant trunk, can enter into a rugged and narrow environment while actively avoiding obstacles. Thus far, there have been many simulation studies on the redundant control problems encountered in controlling hyper-redundant arms, but
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It has long been one of the dreams of robotic researchers to realize a hyper-redundant multi-joint arm which, just like elephant trunk, can enter into a rugged and narrow environment while actively avoiding obstacles. Thus far, there have been many simulation studies on the redundant control problems encountered in controlling hyper-redundant arms, but
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Control System for a Hyper-Redundant Robot
IFAC Proceedings Volumes, 2012Abstract Command and control system of a hyper-redundant robot is presented in this paper. Hyper-redundant robots are a new class of robots designed with a large number of joints with high degree of mobility, in order to operate in areas with restrictions. The robot presented in this paper is a hyper-redundant robot elephant trunk type with truncated
Ileana Vladu +5 more
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VISHARD10, a novel hyper-redundant haptic interface
12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings., 2004This 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.
M. Ueberle, N. Mock, M. Buss
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Tetrobot: A Modular System for Hyper-Redundant Parallel Robotics
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 1995A modular system for the design, implementation, and control of a class of highly redundant parallel robotic mechanisms is described. The Tetrobot system features a novel concentric multilink spherical (CMS) joint which allows an arbitrary number of links to share a common center of rotation. The CMS joint facilitates the construction of a wide variety
G.J. Hamlin, A.C. Sanderson
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IMMUNOLOGY-BASED MOTION CONTROL FOR MODULAR HYPER-REDUNDANT MANIPULATORS
IFAC Proceedings Volumes, 2005Abstract Artificial Immune System (AIS) has recently been actively researched with a number of emerging engineering applications that has capitalized from its characteristics including self-organization, distributive control, knowledge mapping and fault tolerance.
Ng, AKS, Lau, HYK
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