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The kinematics of hyper-redundant robot locomotion

G.S. Chirikjian, J.W. Burdick
1995 IEEE Transactions on Robotics and Automation  
Two classes of gaits, based on stationary waves and traveling waves of mechanism deformation, are introduced for hyper-redundant robots of both constant and variable length.  ...  Several of these gaits and the manipulation algorithm have been implemented on a 30 degree-of-freedom hyper-redundant robot.  ...  A conceptual scheme for locomotion of a Variable Geometry Truss (VGT) robot is discussed in [24] , though no explicit analysis or algorithms for locomotion are given.  ... 
doi:10.1109/70.478426 fatcat:nenrcxvwuvflfbedrkwgeh2sl4

Kinematically optimal hyper-redundant manipulator configurations

G.S. Chirikjian, J.W. Burdick
1995 IEEE Transactions on Robotics and Automation  
This paper develops new methods for determining "optimal" hyper-redundant manipulator configurations based on a continuum formulation of kinematics.  ...  Hyper-redundant" robots have a very large or infinite degree of kinematic redundancy.  ...  ACKNOWLEDGMENT The authors would like to thank the anonymous reviewers for many helpful suggestions.  ... 
doi:10.1109/70.478427 fatcat:ltktngwnszbxdpw5pj6uws2lnm

Kinematically optimal hyper-redundant manipulator configurations

G.S. Chirikjian, J.W. Burdick
Proceedings 1992 IEEE International Conference on Robotics and Automation  
This paper develops new methods for determining "optimal" hyper-redundant manipulator configurations based on a continuum formulation of kinematics.  ...  Hyper-redundant" robots have a very large or infinite degree of kinematic redundancy.  ...  ACKNOWLEDGMENT The authors would like to thank the anonymous reviewers for many helpful suggestions.  ... 
doi:10.1109/robot.1992.220304 dblp:conf/icra/ChirikjianB92 fatcat:k72xdpcrnvfqvfgy754y77kxgm

Conference Digest

2020 2020 IEEE Aerospace Conference  
of measuring Martian air temperature, wind speed, atmospheric pressure, and local magnetic fields.  ...  The Auxiliary Payload Sensor Suite (APSS), a collection of environmental sensors carried by the Interior exploration using Seismic Investigations, Geodesy, and Heat Transport (InSight) lander, is capable  ...  of freedom, number of mechanisms, types of mechanisms), robotic solution design, implementation, and verification and validation (kinematic configuration, robotic and kinematic analysis and topology optimization  ... 
doi:10.1109/aero47225.2020.9172613 fatcat:ioqf5ijrx5gvffu3ls34aa2nsq