G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....describes a method to enumerate the number of non isomorphic assembly configurations of a modular robot system. 2. 3 Climbing robots Our previous work on the three dimensional navigation capabilities of the Inchworm robot was reported in [KR96, KR97b] Related work on climbing robots includes [KM94, CG91, MD92, Neu94, HNT91, GR90, CdP89, Nis92, Che90, Lev93]. The kinematic analysis of our Inchworm is inspired by the analyses presented in [KM94, CG91] Dubowsky [MD92] describes a three legged robot that climbs between two ladders. Nishi [Nis92] describes a biped walking robot configured as a pendulum that uses a suction device for attachment and is ....

.... work on the three dimensional navigation capabilities of the Inchworm robot was reported in [KR96, KR97b] Related work on climbing robots includes [KM94, CG91, MD92, Neu94, HNT91, GR90, CdP89, Nis92, Che90, Lev93] The kinematic analysis of our Inchworm is inspired by the analyses presented in [KM94, CG91]. Dubowsky [MD92] describes a three legged robot that climbs between two ladders. Nishi [Nis92] describes a biped walking robot configured as a pendulum that uses a suction device for attachment and is capable of linear motions and surface transitions. Hirose [HNT91, NH94] describes a quadruped ....

G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

....and it can handle web structures, as well as solid walls. However, our robot requires a ferrous surface while the robots proposed in [Nis92, HNT91] use suction cups and thus do not have this dependency. Related work on the mechanical analysis of inchworm robots and climbing robots includes [FS96, KM94, CG91]. 3 The Inchworm Architecture The inchworm robot is a light linear structure made of four links. Three joints connect adjacent links providing three degrees of freedom. These joints allow the inchworm to extend and flex. The end links are the robot s two feet (see Figure 1) Electromagnets on ....

G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

....is different than the previous climbing robots [MD92, Neu94, HNT91, GR90, Nis92] in that it is much smaller, lighter, it needs less workspace to operate and it can handle web structures, as well as solid walls. Related work on the mechanical analysis of Inchworm robots and climbing robots includes [KM94, CG91]. The kinematic analysis of our Inchworm is inspired by the analyses presented in [KM94, CG91] 3 Background on The Inchworm The Inchworm is a biologically inspired robot, designed to imitate the movements of the inchworm caterpillar. This functionality was achieved by creating a light, linear ....

....much smaller, lighter, it needs less workspace to operate and it can handle web structures, as well as solid walls. Related work on the mechanical analysis of Inchworm robots and climbing robots includes [KM94, CG91] The kinematic analysis of our Inchworm is inspired by the analyses presented in [KM94, CG91]. 3 Background on The Inchworm The Inchworm is a biologically inspired robot, designed to imitate the movements of the inchworm caterpillar. This functionality was achieved by creating a light, linear structure make of four sections. The sections are linked with three joints providing three ....

G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

....of the ground. A number of gaits have been proposed for serpentine robots utilizing solely body motion, without the use of explicit legs or wheels. Perhaps the most unusual is to mimic the sidewinding motion of snakes. 9] The same researchers, in another paper suggest two types of wave motion. [14] One gait utilizes a stationary wave of varying amplitude. This is much like the gait of an inch worm. Another wave gait utilizes a traveling wave of constant amplitude. This gait is much like that of a caterpillar. This is the gait that was investigated here. d L 1 2 3 4 0 q Figure 6: A traveling ....

Chirikjian, G. Burdick, J., "Kinematics of a HyperRedundant robot Locomotion with Application to Grasping," IEEE Conf. on Robotics and Automation, 1991.

....Some hyper redundant robots have been designed for manipulation tasks. The goal of some designs was to position an end effector in a small or cluttered work space. 1,3] Other authors have worked toward practical whole arm manipulation of objects or studied the kinematics of such a task. [7,4,5,8,6] Mobility in hyperredundant robots has also been investigated. 7,2,5,9] In many cases there are practical problems that render serpentine designs of limited use. In some implementations, one end of the robot is stationary, limiting the reach of these robots to a sphere with the radius equal to the ....

....tasks. The goal of some designs was to position an end effector in a small or cluttered work space. 1,3] Other authors have worked toward practical whole arm manipulation of objects or studied the kinematics of such a task. 7,4,5,8,6] Mobility in hyperredundant robots has also been investigated. [7,2,5,9] In many cases there are practical problems that render serpentine designs of limited use. In some implementations, one end of the robot is stationary, limiting the reach of these robots to a sphere with the radius equal to the fully extended length of the robot. Also, due to the redundant nature ....

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Chirikjian, G., Burdick, J., "Kinematics of a HyperRedundant Robot Locomotion with Applications to Grasping", Proceedings of the IEEE Intl. Conf. on Robotics and Automation, pp. 720-725, 1991.

....is different than the previous climbing robots [MD92, Neu94, HNT91, GR90, Nis92] in that it is much smaller, lighter, it needs less workspace to operate and it can handle web structures, as well as solid walls. Related work on the mechanical analysis of Inchworm robots and climbing robots includes [KM94, CG91]. The kinematic analysis of our Inchworm is inspired by the analyses presented in [KM94, CG91] 3. The Inchworm Robot The Inchworm is a biologically inspired robot, designed to imitate the movements of the inchworm caterpillar. This functionality was achieved by creating a light, linear ....

....much smaller, lighter, it needs less workspace to operate and it can handle web structures, as well as solid walls. Related work on the mechanical analysis of Inchworm robots and climbing robots includes [KM94, CG91] The kinematic analysis of our Inchworm is inspired by the analyses presented in [KM94, CG91]. 3. The Inchworm Robot The Inchworm is a biologically inspired robot, designed to imitate the movements of the inchworm caterpillar. This functionality was achieved by creating a light, linear structure made of four sections. The sections are linked with three joints providing three degrees of ....

G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

....surface while the robots proposed in [Nis92, HNT91] use suction cups and thus do not have this dependency. Moreover, the robots [Nis92, HNT91] depend on smooth surfaces, while ours can handle porous surfaces. Related work on the mechanical analysis of inchworm robots and climbing robots includes [KM94, Cetal94, CG91]. We were inspired by the control and kinematic analysis of [KM94, CG91] in the design and kinematic analysis of our system. 1.2 Outline This paper is organized as follows. We describe the mechanical and electronic components of our robot. We continue by presenting the control algorithms for the ....

....not have this dependency. Moreover, the robots [Nis92, HNT91] depend on smooth surfaces, while ours can handle porous surfaces. Related work on the mechanical analysis of inchworm robots and climbing robots includes [KM94, Cetal94, CG91] We were inspired by the control and kinematic analysis of [KM94, CG91] in the design and kinematic analysis of our system. 1.2 Outline This paper is organized as follows. We describe the mechanical and electronic components of our robot. We continue by presenting the control algorithms for the inchworm. Finally, we discuss our experimental data. 2 The inchworm ....

G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

....systems, induced by closed joint space trajectories under the nonholonomic constraint of conservation of angular momentum (Krishnaprasad (1990) Marsden et al. 1990) O i i 1 O Fig. 1. One Module of the VGT assembly VGT assemblies of the type discussed here have been examined in the past (see (Chirikjian and Burdick (1991)) and references there) but the emphasis was on its capabilities as a redundant ma nipulator and on locomotion using snake like motions, not on the special problems introduced by nonholonomic constraints. A system similar to the one described here was built by (Chirikjian and Burdick (1993) ....

Chirikjian, G. S. and Burdick, J. W. (1991), "Kinematics of Hyper--Redundant Robot Locomotion with Applications to Grasping, " Proc. IEEE Intl. Conf. on Robotics and Automation, pp. 720--725, IEEE, New York.

.... space (e.g. robotic manipulators mounted on orbiting satellites) where periodic movements of the joints induce a reorientation of the system under the nonholonomic constraint of conservation of angular momentum [6,10] Inspired by the experimental work of Joel Burdick and his students at Caltech [2,3], a novel system that uses the above principle for land locomotion was introduced in [7,8] There, a Variable Geometry Truss (VGT) assembly consisting of longitudinal repetition of truss modules, each one of which is equipped with idler wheels and linear actuators in a planar parallel manipulator ....

G. S. Chirikjian and J. W. Burdick, "Kinematics of Hyper--Redundant Robot Locomotion with Applications to Grasping," presented at Proc. IEEE Intl. Conf. on Robotics and Automation, New York, 1991.

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G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

No context found.

G. Chirikjian and J. Burdick. Kinematics of a hyper-redundant robot locomotion with applications to grasping. In Proceedings of the IEEE International Conference on Robotics and Automat ion, 1991.

No context found.

G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

No context found.

G. Chirikjian and J. Burdick, Kinematics of a hyperredundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

No context found.

G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

No context found.

G. Chirikjian and J. Burdick, Kinematics of a hyper-redundant robot locomotion with applications to grasping, in Proceedings of the IEEE International Conference on Robotics and Automation, 1991.

No context found.

G. Chirikjian and J. Burdick. Kinematics of a hyper-redundant robot locomotion with applications to grasping. In Proceedings of the IEEE International Conference on Robotics and Automat ion, 1991.

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