b. Novel kinematics for continuum robots - HannanM.W. Hannan & I.D. Walker "Novel Kinematics for Continuum Robots", 7th International Symposium on Advances in Robot kinematics, Slovenia, pp. 227-238, 2000M. Hannan and I. D. Walker, "Novel kinematics for continuum robots," in Proc. 7th...
In this paper we address the kinematics of hyper-redundant robots known as continuum robots. Though research is not new in this area, there has not been an established kinematic model for these robots. We derive a new kinematic model that uses both differential geometry and the Denavit-Hartenber...
Arm control Kinematics Repeated precision Soft robotic arm Trajectory tracking 1. Introduction Soft robotic arms (SRAs) have attracted great research attention recently due to their satisfactory environmental adaptability, relative safety, abundant degrees of freedom (DoF) and low cost. There have been ...
Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics. Journal of the Franklin Institute, 2017, 354(17): 7767–7793 Article MathSciNet MATH Google Scholar Perrusquía A, Yu W, Soria A. Position/force control of robot ...
Flexible robotsThis paper tries to analyze the inverse kinematics problem of the inextensible continuum robot from a new perspective. In the analysis, the generatrix of the robot's workspace is studied and replaced by the Kepler oval. Then the complicated inverse kinematics problem of the multi-...
KinematicsIntervalsIn this paper, we examine the properties of tentacle-like continuum robots wherein the lengths of the bending segments can be adjusted. The ability to vary section lengths would allow continuum robots to assume a significantly wider range of configurations than in existing designs,...
Bio-Inspired ManipulatorContinuum RobotElephant TrunkKinematicsDesignDramatic growth in the robotics industry demands robots with exceptional working capabilities such as working in a confined environment and with safety features. Likewise, high requirement needs to meet robots of the new generation. In ...
G. Caldwell, "Novel modal approach for kinematics of multisection continuum arms," in IEEE International Conference on Intelligent Robots and Systems (IROS), (San Francisco, California, USA), pp. 1093- 1098, IEEE, 2011. 00034.Novel modal approach for kinematics and multisection contin- uum ...
Novel Kinematics for Continuum Robots, to appear - Hannan, Walker - 2000 () Citation Context ...s 1, 4, and 5. Figure 3: Continuous backbone planar robot. In recent works, we have proposed several alternative methods for trunk and tentacle kinematics which exploit the constant curvature ...
KinematicsIntervalsIn this paper, we examine the properties of tentacle-like continuum robots wherein the lengths of the bending segments can be adjusted. The ability to vary section lengths would allow continuum robots to assume a significantly wider range of configurations than in existing designs,...