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Computing forward statics from tendon-length in flexible-joint hyper-redundant manipulators
IEEE/RJS International Conference on Intelligent RObots and SystemsHyper-redundant tendon-driven manipulators offer greater flexibility and compliance over traditional manipulators. A common way of controlling such manipulators relies on adjusting tendon lengths, which is an accessible control parameter.
Weiting Feng +3 more
semanticscholar +2 more sources
International Conference on Advanced Robotics, 2021 In recent years, long-reach cable-driven hyper-redundant manipulators have been spreading into the field of robotics inspection, thanks to their ability to move through narrow spaces and harsh environments.
D. Ludovico +5 more
semanticscholar +2 more sources
Robotica (Cambridge. Print), 2021 This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, and its basic idea is to use a static and a dynamic curve to constrain the macroshape of the manipulators simultaneously. The static curve is constructed
Xiaobo Zhang, Jinguo Liu, Yangmin Li
semanticscholar +2 more sources
A worm-inspired new spatial hyper-redundant manipulator
Robotica, 2010 SUMMARYIn this work a novel spatial hyper-redundant manipulator inspired in the motions of the worms is introduced. The displacement analysis is presented in a semi-closed form solution, whereas the velocity and acceleration analyses are carried out by means of the theory of screws.
Jaime Gallardo-Alvarado +2 more
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A variational approach to path planning for hyper-redundant manipulators
Robotics and Autonomous Systems, 2009Motion planning for hyper-redundant manipulators in a complicated and cluttered workspace is a challenging problem. Many of the path planning algorithms, based on cell decomposition or potential field, fail due to the high dimensionality and complex nature of the C-space.
Bhaskar Dasgupta, Ekta Singla
exaly +2 more sources
A Geometric Approach to Inverse Kinematics of Hyper-Redundant Manipulators for tokamaks maintenance
Mechanism and Machine Theory, 2022Clemente Lauretti +2 more
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Theory and Applications of Hyper-Redundant Robotic Manipulators [PDF]
, 1992 The term "hyper-redundant" refers to robotic manipulators and mobile robots with a very large, possibly infinite, number of actuatable degrees of freedom. These robots are analogous in morphology and operation to snakes, worms, elephant trunks, and tentacles.
Chirikjian, Gregory Scott
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Design and implementation of discretely actuated hyper-redundant manipulators: a review
Journal of the Brazilian Society of Mechanical Sciences and EngineeringAlireza Motahari
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Binary hyper-redundant robotic manipulator concept
2004 IEEE Region 10 Conference TENCON 2004., 2004 Continuously actuated robotic manipulators are the most common type of manipulators even though they require sophisticated and expensive control and sensor systems to function with high accuracy and repeatability. Binary hyper-redundant (Bi-HR) robotic manipulators are potential candidates to be used in applications where high repeatability and ...
Jackrit Suthakorn
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Shape control of hyper redundant manipulator
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002This paper shows a control law to let hyper redundant manipulators be in specified shapes. Such shape controls are necessary for whole arm manipulation, crevice penetrations and obstacle avoidance. The proposed control is complete local-wise law. Each controller can determine its joint motion by itself while every controller has the same hardware and ...
Hisato Kobayashi, Sjigeo Ohtake
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