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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 new forms of robot locomotion and grasping.
Chirikjian, Gregory S., Burdick, Joel W.
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A Mixed-Reality-Based Unknown Space Navigation Method of a Flexible Manipulator [PDF]
Sensors, 2023 A hyper-redundant flexible manipulator is characterized by high degree(s) of freedom (DoF), flexibility, and environmental adaptability. It has been used for missions in complex and unknown spaces, such as debris rescue and pipeline inspection, where the
Ronghui Chen +5 more
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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
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Real time optimum trajectory generation for redundant/hyper-redundant serial industrial manipulators [PDF]
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
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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. This formulation uses a backbone curve model to capture the robot's essential macroscopic geometric features.
Chirikjian, Gregory S., Burdick, Joel W.
openaire +6 more sources
Design and Experimental Validation of a 3D-Printed Embedded-Sensing Continuum Robot for Neurosurgery [PDF]
Micromachines, 2023 A minimally-invasive manipulator characterized by hyper-redundant kinematics and embedded sensing modules is presented in this work. The bending angles (tilt and pan) of the robot tip are controlled through tendon-driven actuation; the transmission of ...
Donatella Dragone +8 more
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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
Andrés Martín-Barrio +4 more
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A modal approach to hyper-redundant manipulator kinematics [PDF]
IEEE Transactions on Robotics and Automation, 1994 This paper presents novel and efficient kinematic modeling techniques for "hyper-redundant" robots. This approach is based on a "backbone curve" that captures the robot's macroscopic geometric features. The inverse kinematic, or "hyper-redundancy resolution," problem reduces to determining the time varying backbone curve behavior.
Chirikjian, Gregory S., Burdick, Joel W.
openaire +5 more sources
Computer Aided Design of a Hyper-redundant Manipulator
Advances in Electrical and Computer Engineering, 2013 Bioinspired solution can support significant improvements across various fields of robotics, offering solutions to basic problems such as locomotion and manipulation in unstructured environments. This paper deals with the problem of using a bioinspired
MARGHITU, D., COJOCARU, D., DUMITRU, S.
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Discrete (Two-State) Modular Hyper-Redundant Planar Manipulator
Computer Assisted Methods in Engineering and Science, 2022 This paper presents a concept of an extremely simple planar manipulator composed of 24 congruent modules. Each module has only two possible discrete positions in relation to the previous module: left (-π/6) or right (π/6).
Ela Zawidzka, Machi Zawidzki
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