• DocumentCode
    789877
  • Title

    A hyper-redundant manipulator

  • Author

    Chirikjian, Gregory S. ; Burdick, Joel W.

  • Author_Institution
    Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
  • Volume
    1
  • Issue
    4
  • fYear
    1994
  • Firstpage
    22
  • Lastpage
    29
  • Abstract
    "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.<>
  • Keywords
    manipulators; mechanical stability; redundancy; actuatable degrees of freedom; grasping; hyper-redundant manipulator; mechanical failure; obstacle avoidance; robot locomotion; variable geometry truss; Anthropomorphism; Computational geometry; Kinematics; Laboratories; Manipulator dynamics; Morphology; Orbital robotics; Robotics and automation; Robots; Robustness;
  • fLanguage
    English
  • Journal_Title
    Robotics & Automation Magazine, IEEE
  • Publisher
    ieee
  • ISSN
    1070-9932
  • Type

    jour

  • DOI
    10.1109/100.388263
  • Filename
    388263
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=789877