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The kinematics of hyper-redundant robot locomotion

Chirikjian, Gregory S. and Burdick, Joel W. (1995) The kinematics of hyper-redundant robot locomotion. IEEE Transactions on Robotics and Automation, 11 (6). pp. 781-793. ISSN 1042-296X. https://resolver.caltech.edu/CaltechAUTHORS:CHIieetra95a

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Abstract

This paper considers the kinematics of hyper-redundant (or “serpentine”) robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of “gaits”. The analysis and algorithms are based on a continuous backbone curve model which captures the robot's macroscopic geometry. Two classes of gaits, based on stationary waves and traveling waves of mechanism deformation, are introduced for hyper-redundant robots of both constant and variable length. We also illustrate how the locomotion algorithms can be used to plan the manipulation of objects which are grasped in a tentacle-like manner. Several of these gaits and the manipulation algorithm have been implemented on a 30 degree-of-freedom hyper-redundant robot. Experimental results are presented to demonstrate and validate these concepts and our modeling assumptions.


Item Type:Article
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http://resolver.caltech.edu/CaltechAUTHORS:20120418-094435054Related ItemConference Paper
Additional Information:© 1995 IEEE. Reprinted with permission. Manuscript received September 9, 1992; revised June 17, 1993. This work was supported by the National Science Foundation under Grants MSS-901779 and MSS-9157843 and by the Office of Naval Research Young Investigator Award N00014-92-J1920.
Funders:
Funding AgencyGrant Number
NSFMSS-901779
NSFMSS-9157843
Office of Naval Research (ONR)N00014-92-J1920
Issue or Number:6
Record Number:CaltechAUTHORS:CHIieetra95a
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:CHIieetra95a
Alternative URL:http://dx.doi.org/10.1109/70.478426
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:6491
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:11 Dec 2006
Last Modified:02 Oct 2019 23:33

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