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- W2138969689 abstract "The macroscopic geometric shape of a hyper-redundant manipulator can be described by a curve which is called the reference or backbone curve (BBC). In this paper, a discrete model with compliance is developed for the BBC that is a practical approximation to a continuous elastic cord. Based on the proposed model, kinematic redundancy is resolved through shape optimization: minimizing the elastic potential energy of the BBC. The formulation introduced here is general and can be efficiently used for the configuration control of hyper-redundant manipulators. Moreover, the proposed discrete model is well suited for a class of variable-geometry-truss (VGT) manipulators that are made up of double-octahedral modules. The effectiveness of the model is verified by numerical simulations and hardware experiments." @default.
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- W2138969689 date "2002-11-22" @default.
- W2138969689 modified "2023-09-25" @default.
- W2138969689 title "A discrete model for the configuration control of hyper-redundant manipulators" @default.
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- W2138969689 doi "https://doi.org/10.1109/robot.1997.620033" @default.
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