Results 11 to 20 of about 2,853 (274)
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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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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Dynamically efficient kinematics for hyper-redundant manipulators [PDF]
2016 24th Mediterranean Conference on Control and Automation (MED), 2016 Published in the 24th Mediterranean Conference on Control and Automation (MED-2016)
Marios Xanthidis +2 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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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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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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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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An obstacle avoidance algorithm for hyper-redundant manipulators [PDF]
Proceedings., IEEE International Conference on Robotics and Automation, 2002 Novel kinematic algorithms for implementing planar hyperredundant manipulator obstacle avoidance is presented. Unlike artificial potential field methods, the method outlined is strictly geometric. Tunnels are defined in a workspace in which obstacles are presented.
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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