A hyper-redundant manipulator
"Hyper-redundant" manipulators have a very large number of actuatable degrees of freedom. The benefits of hyper-redundant robots include the ability to avoid obstacles, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping. The authors examine hyper-redundant manipulator design criteria and the physical implementation of one particular design: a variable geometry truss.
© Copyright 1994 IEEE. Reprinted with permission. This work was sponsored in part by a NASA Graduate Student Researchers Program fellowship (while the first author was a student), the Caltech President's Fund, # PF-331, and the National Science Foundation, grant MSS-901779.