Title :
Design and experiments with a 30 DOF robot
Author :
Chirikjian, Gregory S. ; Burdick, Joel W.
Author_Institution :
Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
A 30 degree-of-freedom (DOF) planar hyper-redundant manipulator is constructed in order to validate and demonstrate the authors´ previous work on a framework for hyper-redundant robot kinematic analysis and algorithm development. The implementation of this robot is reviewed, and experimental work in hyper-redundant manipulation, obstacle avoidance, and locomotion is summarized. Potential benefits of high-DOF manipulators include superior obstacle avoidance ability, increased robustness with respect to mechanical failure, and the ability to perform new forms of robot locomotion and grasping
Keywords :
redundancy; robots; 30 DOF robot; high-DOF manipulators; locomotion; mechanical failure robustness; obstacle avoidance; obstacle avoidance ability; planar hyper-redundant manipulator; robot kinematic analysis; Actuators; Algorithm design and analysis; Anthropomorphism; Manipulators; Mechanical engineering; Morphology; Robot kinematics; Robot programming; Robustness;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291862
