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The kinematics of hyper-redundant robot locomotion
1995
IEEE Transactions on Robotics and Automation
Preserved Fulltext
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
1995
IEEE Transactions on Robotics and Automation
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A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
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
Proceedings 1992 IEEE International Conference on Robotics and Automation
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
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
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is application/pdf.
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