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A continuum approach to hyper-redundant manipulator dynamics
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), 2002Hyper-redundant, or snakelike, manipulators have a very large number of actuatable degrees of freedom. This paper develops an efficient formulation of approximate hyper-redundant manipulator dynamics. The most efficient methods for representing manipulator dynamics in the literature require serial computations proportional to the number of degrees of ...
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Robotica (Cambridge. Print)
Hyper-redundant manipulators are produced by cascading several mechanisms on top of each other as modules. The discrete actuation makes their control easier because discrete actuators usually do not need any feedback to control.
A. Motahari
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Hyper-redundant manipulators are produced by cascading several mechanisms on top of each other as modules. The discrete actuation makes their control easier because discrete actuators usually do not need any feedback to control.
A. Motahari
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IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2020
With many degrees of freedom (DOFs), a hyper-redundant manipulator has superior dexterity and flexible manipulation ability. However, its inverse kinematics and configuration planning are very challenging.
Zonggao Mu +4 more
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With many degrees of freedom (DOFs), a hyper-redundant manipulator has superior dexterity and flexible manipulation ability. However, its inverse kinematics and configuration planning are very challenging.
Zonggao Mu +4 more
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Hyper-redundant manipulator dynamics: a continuum approximation
Advanced Robotics, 1994Hyper-redundant, or 'snake-like', manipulators have a very large number of actuatable degrees of freedom. This paper develops an efficient formulation of approximate hyper-redundant manipulator dynamics. The most efficient methods for representing manipulator dynamics in the literature require serial computations proportional to the number of degrees ...
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Reconfiguration of joint locked hyper-redundant space manipulator
Proceedings of the 2015 Conference on Advances In Robotics, 2015This paper presents a strategy for the reconfigurable robot exploiting redundancy of 6 DOF planar space robot. The space robots are frequently used to maneuver in harsh environments. The extreme nature of these environments increases the likelihood of robot failure. In this case, the robot reconfiguration becomes a necessity for smooth motion planning.
Vijay Kumar Dalla, Pushparaj Mani Pathak
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Robotica (Cambridge. Print)
Hyper-redundant manipulators (HRMs) exhibit promising adaptability and superior dexterity in cavity detection tasks, owing to their snake-like segmented backbones.
Renjie Ju +3 more
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Hyper-redundant manipulators (HRMs) exhibit promising adaptability and superior dexterity in cavity detection tasks, owing to their snake-like segmented backbones.
Renjie Ju +3 more
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The inverse kinematics of hyper-redundant manipulators using splines
Proceedings of 1995 IEEE International Conference on Robotics and Automation, 2002This paper presents a spline-based solution method for the inverse kinematics of hyper-redundant manipulators. The reference or backbone curve, that describes the macroscopic geometric shape of the manipulator is modelled by cubic and quintic piecewise parametric spline segments. A procedure for the coordinate frame distribution is proposed that allows
Kourosh E. Zanganeh, Jorge Angeles
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2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR)
In recent decades, the demand for service robotics has increased in different applications. In particular, inspection and maintenance tasks require to operate in hazardous, dan-gerous, or inaccessible areas where robots can safely operate.
D. Ludovico +7 more
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In recent decades, the demand for service robotics has increased in different applications. In particular, inspection and maintenance tasks require to operate in hazardous, dan-gerous, or inaccessible areas where robots can safely operate.
D. Ludovico +7 more
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2024 6th International Conference on Reconfigurable Mechanisms and Robots (ReMAR)
Planning for hyper-redundant manipulators is a challenging task due to the exponentially increased computational complexity in terms of the degrees of freedom.
Jiangping Wang +3 more
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Planning for hyper-redundant manipulators is a challenging task due to the exponentially increased computational complexity in terms of the degrees of freedom.
Jiangping Wang +3 more
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Flexure design of a compliant modular hyper-redundant manipulator
2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017A manipulator with multiple degrees of freedom such as a hyper-redundant manipulator is generally applied in many applications ranging from medicine to space exploration. Most importantly, the multiple degrees of freedom of the manipulators allow the user to access areas where a rigid body has difficulty accessing.
Teeranoot Chanthasopeephan +3 more
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