Title :
Field trials and testing of the OctArm continuum manipulator
Author :
McMahan, W. ; Chitrakaran, V. ; Csencsits, M. ; Dawson, D. ; Walker, I.D. ; Jones, B.A. ; Pritts, M. ; Dienno, D. ; Grissom, M. ; Rahn, C.D.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC
Abstract :
This paper describes the results of field trials and associated testing of the OctArm series of multi-section continuous backbone "continuum" robots. This novel series of manipulators has recently (Spring 2005) undergone a series of trials including open-air and in-water field tests. Outcomes of the trials, in which the manipulators demonstrated the ability for adaptive and novel manipulation in challenging environments, are described. Implications for the deployment of continuum robots in a variety of applications are discussed
Keywords :
manipulators; testing; OctArm series; adaptive manipulation; continuum manipulator; Actuators; Contracts; Manipulators; Mechanical engineering; Muscles; Orbital robotics; Prototypes; Service robots; Spine; Testing;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642051
