Results 21 to 30 of about 3,485 (285)
Engineering Science and Technology, an International Journal, 2021 This paper presents a simple, effective and robust geometrical approach for path-planning of redundant/hyper-redundant manipulators in real-time within confined spaces cluttered with obstacles.
Yalçın Bulut, Erdinc Sahin Conkur
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Visual Tracking Control of Cable-Driven Hyper-Redundant Snake-Like Manipulator
Applied Sciences, 2021 The cable-driven hyper-redundant snake-like manipulator (CHSM) inspired by the biomimetic structure of vertebrate muscles and tendons, which consists of numerous joint units connected adjacently driven by elastic materials with hyper-redundant DOF ...
Qisong Zhou +4 more
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International Journal of Advanced Robotic Systems, 2022 Redundant manipulators are flexible enough to adapt to complex environments, but their controller is also required to be specific for their extra degrees of freedom.
Yue Lin +4 more
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A Novel Path Planning Algorithm Considering the Maximum Deflection Angle of Joint
IEEE Access, 2021 The paper deals with a minimum potential energy algorithm considering the maximum deflection angle of joint (MPE-MDA algorithm) for three key factors including the maximum deflection angle of the joint, the total length of the path, and the minimum ...
Yuping Huang +5 more
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The kinematics of hyper-redundant robot locomotion [PDF]
, 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”.
Burdick, Joel W., Chirikjian, Gregory S.
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Applied Sciences, 2022 Hyper-redundant manipulators are widely used in minimally invasive surgery because they can navigate through narrow passages in passive compliance with the human body. Although their stability and dexterity have been significantly improved over the years,
Seongil Kwon +3 more
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A Fibonacci control system with application to hyper-redundant manipulators [PDF]
, 2015 We study a robot snake model based on a discrete linear control system involving Fibonacci sequence and closely related to the theory of expansions in non-integer bases.
Lai, Anna Chiara +2 more
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Path Planning Based on NURBS for Hyper-Redundant Manipulator Used in Narrow Space
Applied Sciences, 2022 Hyper-redundant manipulators with multiple degrees of freedom have special application prospects in narrow spaces, such as detection in small spaces in aerospace, rescue on-site disaster relief, etc.
Jinjun Duan +3 more
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Optimal dimensional synthesis of force feedback lower arm exoskeletons [PDF]
, 2008 This paper presents multi-criteria design optimization of parallel mechanism based force feedback exoskeletons for human forearm and wrist. The optimized devices are aimed to be employed as a high fidelity haptic interfaces.
Patoglu, Volkan +3 more
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Design and analysis of a robust, low-cost, highly articulated manipulator enabled by jamming of granular media [PDF]
, 2011 Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to the distributed and bulky actuators that are typically used to achieve the precision and degrees of freedom (DOFs) required.
Cheng, Nadia Gen San +6 more
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