DocumentCode
2100079
Title
Field trials and testing of the OctArm continuum manipulator
Author
McMahan, W. ; Chitrakaran, V. ; Csencsits, M. ; Dawson, D. ; Walker, I.D. ; Jones, B.A. ; Pritts, M. ; Dienno, D. ; Grissom, M. ; Rahn, C.D.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC
fYear
2006
fDate
15-19 May 2006
Firstpage
2336
Lastpage
2341
Abstract
This paper describes the results of field trials and associated testing of the OctArm series of multi-section continuous backbone "continuum" robots. This novel series of manipulators has recently (Spring 2005) undergone a series of trials including open-air and in-water field tests. Outcomes of the trials, in which the manipulators demonstrated the ability for adaptive and novel manipulation in challenging environments, are described. Implications for the deployment of continuum robots in a variety of applications are discussed
Keywords
manipulators; testing; OctArm series; adaptive manipulation; continuum manipulator; Actuators; Contracts; Manipulators; Mechanical engineering; Muscles; Orbital robotics; Prototypes; Service robots; Spine; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1642051
Filename
1642051
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