Results 11 to 20 of about 1,419,907 (265)
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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Applied Sciences, 2020 Hyper-redundant continuum manipulators present dexterous kinematic skills in complicated tasks and demonstrate promising potential in underground exploration, intra-cavity inspection, surgery, etc.
Long Qin +4 more
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Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators
Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics, 2020 We address an optimal reachability problem in constrained environments for hyper-redundant and soft planar manipulators. Both the discrete and continuous devices are inextensible and they are characterized by a bending moment, representing a natural resistance to leave the position at rest, an inequality constraint forcing the bending below a fixed ...
Cacace S., Lai A. C., Loreti P.
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Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK [PDF]
In publication in Springer Proceedings for the European Robotics Forum ...
Cristian Morasso +4 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.
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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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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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Applied Sciences, 2022 An effective path-planning algorithm in three-dimensional (3D) environments based on a geometric approach for redundant/hyper-redundant manipulators are presented in this paper.
Okan Minnetoglu, Erdinc Sahin Conkur
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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.
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Task-Based Motion Planning Using Optimal Redundancy for a Minimally Actuated Robotic Arm
Applied Sciences, 2022 In planning robotic manipulations, heuristic searches are commonly considered impractical due to the high dimensionality of the problem caused by redundancy in the kinematic chain.
Yanai Gal, David Zarrouk
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