Chirikjian, Gregory S. and Burdick, Joel W. (1991) Kinematics of hyper-redundant robot locomotion with applications to grasping. In: 1991 IEEE International Conference on Robotics and Automation, Proceedings. IEEE Computer Society Press , Los Alamitos, CA, pp. 720-725. ISBN 0-8186-2163-X http://resolver.caltech.edu/CaltechAUTHORS:20120418-094435054
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Simple schemes for analyzing the kinematics of hyper-redundant robot locomotion over solid terrain are considered. These schemes are based on the concepts of amplitude varying and traveling wave gaits, which are idealized models of inchworm and caterpillar locomotion. The kinematics of these gaits is formulated for hyper-redundant robots of both constant and variable length for locomotion over both flat and irregular terrain. Hyper-redundant locomotion concepts are applied to a novel grasping and fine manipulation scheme based on a grasping wave.
|Item Type:||Book Section|
|Additional Information:||© 1991 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), and the Caltech President's Fund, #PF-331.|
|Official Citation:||Chirikjian, G.S.; Burdick, J.W.; , "Kinematics of hyper-redundant robot locomotion with applications to grasping," Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on , vol., no., pp.720-725 vol.1, 9-11 Apr 1991 doi: 10.1109/ROBOT.1991.131669 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=131669&isnumber=3640|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Tony Diaz|
|Deposited On:||18 Apr 2012 17:55|
|Last Modified:||26 Dec 2012 15:04|
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