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MathematicsHyper-redundant manipulators based on bionic structures offer superior dexterity due to their large number of degrees of freedom (DOFs) and slim bodies.
Han Xu +4 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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International Journal of Advanced Robotic Systems, 2021 Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching
Liangliang Zhao +4 more
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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.
openaire +3 more sources
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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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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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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Real time optimum trajectory generation for redundant/hyper-redundant serial industrial manipulators
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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IEEE Access, 2019 Featured by extreme flexibility, hyper-redundant manipulators are gradually developed and applied to perform detection and maintenance tasks in confined on-orbit environments.
Zonggao Mu +5 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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