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Design and experiments with a 30 DOF robot

Chirikjian, Gregory S. and Burdick, Joel W. (1993) Design and experiments with a 30 DOF robot. In: 1993 IEEE International Conference on Robotics and Automation. IEEE Computer Society Press , Los Alamitos, CA, pp. 113-119. ISBN 0-8186-3450-2

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A 30 degree-of-freedom (DOF) planar hyper-redundant manipulator is constructed in order to validate and demonstrate the authors' previous work on a framework for hyper-redundant robot kinematic analysis and algorithm development. The implementation of this robot is reviewed, and experimental work in hyper-redundant manipulation, obstacle avoidance, and locomotion is summarized. Potential benefits of high-DOF manipulators include superior obstacle avoidance ability, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping.

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Additional Information:© 1993 IEEE. Date of Current Version: 06 August 2002. This work was sponsored in part by a NASA Graduate Student Researchers Program fellowship (for the first author), the Caltech President’s Fund, #PF-331, and the National Science Foundation, grant MSS-901779.
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NASA Graduate Student Researchers Program Fellowship UNSPECIFIED
Caltech President’s FundPF-331
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INSPEC Accession Number4690858
Record Number:CaltechAUTHORS:20120301-083830622
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Official Citation:Chirikjian, G.S.; Burdick, J.W.; , "Design and experiments with a 30 DOF robot," Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on , vol., no., pp.113-119 vol.3, 2-6 May 1993 doi: 10.1109/ROBOT.1993.291862 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:29539
Deposited By: Tony Diaz
Deposited On:07 Mar 2012 19:13
Last Modified:26 Dec 2012 14:54

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