DocumentCode
3296821
Title
A novel `elephant´s trunk´ robot
Author
Walker, Ian D. ; Hannan, Michael W.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
fYear
1999
fDate
1999
Firstpage
410
Lastpage
415
Abstract
We introduce and describe a hyperredundant robot manipulator. The manipulator features a segmented `backbone´ with a total of 32 degrees of freedom. Actuation is provided via a series of tendons routed through the structure. In function, the manipulator has capabilities similar to that of the trunk of an elephant, with the ability to bend into numerous shapes, and conform easily to the environment. We describe the design of the manipulator, and discuss its kinematics, novel capabilities, and potential for grasping and manipulation
Keywords
position control; redundant manipulators; elephant´s trunk robot; grasping; hyperredundant robot manipulator; manipulation; segmented backbone; tendons; Arm; End effectors; Humans; Kinematics; Legged locomotion; Manipulators; Robot sensing systems; Shape; Spine; Tendons;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-7803-5038-3
Type
conf
DOI
10.1109/AIM.1999.803204
Filename
803204
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