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A hyper-redundant manipulator

Chirikjian, Gregory S. and Burdick, Joel W. (1994) A hyper-redundant manipulator. IEEE Robotics and Automation Magazine, 1 (4). pp. 22-29. ISSN 1070-9932. http://resolver.caltech.edu/CaltechAUTHORS:CHIieeeram94

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Abstract

“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. The authors examine hyper-redundant manipulator design criteria and the physical implementation of one particular design: a variable geometry truss.


Item Type:Article
Additional Information:© Copyright 1994 IEEE. Reprinted with permission. This work was sponsored in part by a NASA Graduate Student Researchers Program fellowship (while the first author was a student), the Caltech President’s Fund, # PF-331, and the National Science Foundation, grant MSS-901779.
Subject Keywords:manipulators; mechanical stability; redundancy
Record Number:CaltechAUTHORS:CHIieeeram94
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:CHIieeeram94
Alternative URL:http://dx.doi.org/10.1109/100.388263
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:10742
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:05 Jun 2008
Last Modified:26 Dec 2012 10:04

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