DocumentCode
393786
Title
Shape adaptation of planar hyper-redundant manipulators to environment using multiple proximity sensors
Author
Inoue, Kenji ; Tani, Hiroyuki ; Arai, Tatsuo ; Mae, Yasushi
Author_Institution
Osaka Univ., Japan
Volume
3
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
1497
Abstract
We (2000) have already proposed a distributed control method for hyper-redundant manipulators: a manipulator expands, contracts and bends along the shape of complicated and unknown environment. This method is applied to a planar manipulator consisting of serially connected joint units with many proximity sensors. The sensor can measure the distance to an object in short range. A method of obstacle avoidance in long and narrow space like pipes is proposed. Simulation results show the effectiveness of the method.
Keywords
collision avoidance; distributed control; redundant manipulators; computer simulation; distributed control; hyper redundant manipulator; multiple proximity sensors; obstacle avoidance; shape adaptation; Computational modeling; Computer simulation; Contracts; Distributed control; Measurement units; Shape control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1196528
Filename
1196528
Link To Document