A Caltech Library Service

Kinematics of hyper-redundant robot locomotion with applications to grasping

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.

PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


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
Related URLs:
URLURL TypeDescription ItemJournal Article
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.
Funding AgencyGrant Number
NASA Graduate Student Research FellowshipUNSPECIFIED
Caltech President's FundPF-331
Record Number:CaltechAUTHORS:20120418-094435054
Persistent URL:
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:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:30154
Deposited By: Tony Diaz
Deposited On:18 Apr 2012 17:55
Last Modified:09 Nov 2021 19:38

Repository Staff Only: item control page