The kinematics of hyper-redundant robot locomotion
نویسندگان
چکیده
منابع مشابه
The kinematics of hyper-redundant robot locomotion
This paper considers the kinematics of hyperredundant (or “serpentine”) robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of “gaits.” The analysis and algorithms are based on a continuous backbone curve model which captures the robot’s macroscopic geometry. Two classes of gaits, based on stationary waves and traveling waves of mechanism deformation, are ...
متن کامل3D Kinematics Control for a Hyper Redundant Robot
This paper presents the simulation, implementation and control problem for a class of hyper redundant manipulators – the tronconic tentacle arms. A tentacle robot changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any position and orientation in 3D space. A te...
متن کاملControl of hyper-redundant robot using QDSEGA
We consider a flexible autonomous system. To realize the system, we employ H?.per-rednndant system (It is flexible hardware systm) and Reinforcement learning controller "QDSEGA'; (It is a flexible software system). In this paper we apply QDSEGA to controlling of Hyper-redundant robot. To demonstrate the effectiveness, a task of acquisition of lmoniotion patterns is applied to a niulti-legged fo...
متن کاملHyper-redundant robot mechanisms and their applications
Hyper-redundant robots have a large or infinite number of degrees of freedom. Such robots are analogous to snakes or tentacles and are useful for operation in highly constrained environments and novel forms of locomotion. This paper reviews newly developed methods for the kinematic analysis of hyper-redundant manipulators. These methods can be applied to a wide variety of hyper-redundant morpho...
متن کاملA "Sidewinding" Locomotion Gait for Hyper-Redundant Robots
This paper considers the kinematics of a novel form of hyper-redundant mobile robot locomotion which is analogous to the ‘sidewinding’ locomotion of desert s akes. TI$= form o locomotio can be generated Ey a repetitive travAing wave of mechanism bending. Using a continuous backbone curve model, we develop algorithms which enable travel in a uniform direction as well as changes in direction.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1995
ISSN: 1042-296X
DOI: 10.1109/70.478426