Analysis and experiments with an elephant's trunk robot

被引：74

作者：

Hannan, MW ^{[1
]}

Walker, ID ^{[1
]}

机构：

[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

来源：

ADVANCED ROBOTICS | 2001年 / 15卷 / 08期

关键词：

hyperredundant; trunk; kinematics; continuum; elephant;

D O I：

10.1163/156855301317198160

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The area of trunk/tentacle-type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

引用

页码：847 / 858

页数：12

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