Matches in SemOpenAlex for { <https://semopenalex.org/work/W3204994493> ?p ?o ?g. }
Showing items 1 to 96 of
96
with 100 items per page.
- W3204994493 abstract "Continuum arms, with their mix of compliance, payload, safety, and manipulability, are perfectly suited to serve as co-robots, and their applications range from industry and manufacturing to human healthcare. Their hyper-redundancy serves as their most significant challenge for path planning and path planning approaches commonly used with rigid-link robots, such as inverse kinematics, that fail to provide reliable trajectories for continuum arms. We propose an Inverse Kinematics-based approach to address the limitations of previously-proposed Kinematics-based approaches. Using this new approach, we are able to efficiently generate very rich sets of configurations, which, in turn, lead to smooth path planning for such continuum manipulators. To validate the smoothness of the paths generated by our approach, we apply dynamics constraints to the generated trajectories. We show that, when tracked by a controller, the paths that are generated using the proposed approach are much smoother than previously-proposed Kinematics-based approaches: The proposed approach allows the continuum arm to traverse the trajectories very accurately and in time less than half of that taken by previous (reliable) path planning approaches." @default.
- W3204994493 created "2021-10-25" @default.
- W3204994493 creator A5009111693 @default.
- W3204994493 creator A5026038506 @default.
- W3204994493 creator A5056112019 @default.
- W3204994493 date "2021-05-30" @default.
- W3204994493 modified "2023-09-24" @default.
- W3204994493 title "Smooth Path Planning for Continuum Arms" @default.
- W3204994493 cites W1925606516 @default.
- W3204994493 cites W1975277581 @default.
- W3204994493 cites W2031395982 @default.
- W3204994493 cites W2101667962 @default.
- W3204994493 cites W2396013977 @default.
- W3204994493 cites W2616035607 @default.
- W3204994493 cites W2794349891 @default.
- W3204994493 cites W2809752599 @default.
- W3204994493 cites W2894081025 @default.
- W3204994493 cites W2908470874 @default.
- W3204994493 cites W2911305610 @default.
- W3204994493 cites W2921626036 @default.
- W3204994493 cites W4251181231 @default.
- W3204994493 doi "https://doi.org/10.1109/icra48506.2021.9560982" @default.
- W3204994493 hasPublicationYear "2021" @default.
- W3204994493 type Work @default.
- W3204994493 sameAs 3204994493 @default.
- W3204994493 citedByCount "4" @default.
- W3204994493 countsByYear W32049944932022 @default.
- W3204994493 countsByYear W32049944932023 @default.
- W3204994493 crossrefType "proceedings-article" @default.
- W3204994493 hasAuthorship W3204994493A5009111693 @default.
- W3204994493 hasAuthorship W3204994493A5026038506 @default.
- W3204994493 hasAuthorship W3204994493A5056112019 @default.
- W3204994493 hasConcept C102634674 @default.
- W3204994493 hasConcept C111919701 @default.
- W3204994493 hasConcept C121332964 @default.
- W3204994493 hasConcept C126255220 @default.
- W3204994493 hasConcept C13280743 @default.
- W3204994493 hasConcept C134306372 @default.
- W3204994493 hasConcept C152124472 @default.
- W3204994493 hasConcept C154945302 @default.
- W3204994493 hasConcept C176809094 @default.
- W3204994493 hasConcept C17816587 @default.
- W3204994493 hasConcept C199360897 @default.
- W3204994493 hasConcept C19966478 @default.
- W3204994493 hasConcept C205649164 @default.
- W3204994493 hasConcept C2775924081 @default.
- W3204994493 hasConcept C2777735758 @default.
- W3204994493 hasConcept C33923547 @default.
- W3204994493 hasConcept C39920418 @default.
- W3204994493 hasConcept C41008148 @default.
- W3204994493 hasConcept C47446073 @default.
- W3204994493 hasConcept C74222875 @default.
- W3204994493 hasConcept C74650414 @default.
- W3204994493 hasConcept C81074085 @default.
- W3204994493 hasConcept C90509273 @default.
- W3204994493 hasConceptScore W3204994493C102634674 @default.
- W3204994493 hasConceptScore W3204994493C111919701 @default.
- W3204994493 hasConceptScore W3204994493C121332964 @default.
- W3204994493 hasConceptScore W3204994493C126255220 @default.
- W3204994493 hasConceptScore W3204994493C13280743 @default.
- W3204994493 hasConceptScore W3204994493C134306372 @default.
- W3204994493 hasConceptScore W3204994493C152124472 @default.
- W3204994493 hasConceptScore W3204994493C154945302 @default.
- W3204994493 hasConceptScore W3204994493C176809094 @default.
- W3204994493 hasConceptScore W3204994493C17816587 @default.
- W3204994493 hasConceptScore W3204994493C199360897 @default.
- W3204994493 hasConceptScore W3204994493C19966478 @default.
- W3204994493 hasConceptScore W3204994493C205649164 @default.
- W3204994493 hasConceptScore W3204994493C2775924081 @default.
- W3204994493 hasConceptScore W3204994493C2777735758 @default.
- W3204994493 hasConceptScore W3204994493C33923547 @default.
- W3204994493 hasConceptScore W3204994493C39920418 @default.
- W3204994493 hasConceptScore W3204994493C41008148 @default.
- W3204994493 hasConceptScore W3204994493C47446073 @default.
- W3204994493 hasConceptScore W3204994493C74222875 @default.
- W3204994493 hasConceptScore W3204994493C74650414 @default.
- W3204994493 hasConceptScore W3204994493C81074085 @default.
- W3204994493 hasConceptScore W3204994493C90509273 @default.
- W3204994493 hasFunder F4320306076 @default.
- W3204994493 hasLocation W32049944931 @default.
- W3204994493 hasOpenAccess W3204994493 @default.
- W3204994493 hasPrimaryLocation W32049944931 @default.
- W3204994493 hasRelatedWork W1503236870 @default.
- W3204994493 hasRelatedWork W1604997681 @default.
- W3204994493 hasRelatedWork W1861322580 @default.
- W3204994493 hasRelatedWork W2143988665 @default.
- W3204994493 hasRelatedWork W2160871553 @default.
- W3204994493 hasRelatedWork W2163414157 @default.
- W3204994493 hasRelatedWork W2366114097 @default.
- W3204994493 hasRelatedWork W2380107774 @default.
- W3204994493 hasRelatedWork W2610147447 @default.
- W3204994493 hasRelatedWork W4231681387 @default.
- W3204994493 isParatext "false" @default.
- W3204994493 isRetracted "false" @default.
- W3204994493 magId "3204994493" @default.
- W3204994493 workType "article" @default.