Chirikjian, Gregory S. and Burdick, Joel W. (1991) Hyper-redundant robot mechanisms and their applications. In: 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems, Proceedings. IEEE , Piscataway, NJ, pp. 185-190. ISBN 0-7803-0067-X http://resolver.caltech.edu/CaltechAUTHORS:20120418-101242658
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Hyper-redundant robots have a large or infinite number of degrees of freedom. Such robots are analogous to snakes or tentacles and are useful for operation in highly constrained environments and novel forms of locomotion. The paper reviews newly developed methods for the kinematic analysis of hyper-redundant manipulators. These methods can be applied to a wide variety of hyper-redundant morphologies and lead to very efficient inverse kinematic, path planning, obstacle avoidance, locomotion, and grasping schemes. It also reviews the design and implementation of a planar 30 degree of freedom variable geometry truss hyper-redundant robot.
|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, grant #PF-331.|
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|Official Citation:||Chirikjian, G.S.; Burdick, J.W.; , "Hyper-redundant robot mechanisms and their applications," Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on , vol., no., pp.185-190 vol.1, 3-5 Nov 1991 doi: 10.1109/IROS.1991.174447 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=174447&isnumber=4454|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Tony Diaz|
|Deposited On:||18 Apr 2012 17:54|
|Last Modified:||26 Dec 2012 15:04|
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