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• W1966364068 abstract "Hyper-redundant robots (HRR) have many more degrees of freedom (DOF) than required, which enable them to handle more constraints, such as those present in highly convoluted volumes. Consequently, they can serve in many robotic applications, while extending the reachability and maneuverability of the operator. Many degrees of freedom that furnish the HRR with its wide range of capabilities also provide its major challenges: mechanism design, control, and path planning. In this paper, we present a novel design of a HRR composed of 16DOF. The HRR is composed of two concentric structures: a passive backbone and an exoskeleton which carries self-weight as well as external loads. The HRR is 80 cm long, 7.7 cm in diameter, achieves high rigidity and accuracy and is capable of 180 deg bending. The forward kinematics of the HRR is presented along with the inverse kinematics of a link." @default.
• W1966364068 created "2016-06-24" @default.
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• W1966364068 date "2012-08-10" @default.
• W1966364068 modified "2023-09-27" @default.
• W1966364068 title "Inclined Links Hyper-Redundant Elephant Trunk-Like Robot" @default.
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• W1966364068 doi "https://doi.org/10.1115/1.4007203" @default.
• W1966364068 hasPublicationYear "2012" @default.
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