Hyper-redundant manipulator

被引：82

作者：

Chirikjian, Gregory S. ^{[1
]}

Burdick, Joel W. ^{[1
]}

机构：

[1] Johns Hopkins Univ

来源：

IEEE Robotics and Automation Magazine | 1994年 / 1卷 / 04期

基金：

美国国家航空航天局; 俄罗斯科学基金会;

关键词：

Collision avoidance - Degrees of freedom (mechanics) - End effectors - Failure (mechanical) - Geometry - Kinematics - Machine design - Mathematical models - Redundancy - Robustness (control systems);

D O I：

10.1109/100.388263

中图分类号：

学科分类号：

摘要：

'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.

引用

页码：22 / 29