Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators

Takanashi, Nobuaki; Chose, H.; Burdick, Joel W.

doi:10.1109/iros.1993.583181

Cited by 17 publications

(5 citation statements)

References 19 publications

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“…This robot, in particular, features a sealed design with flexible bellows and an aluminum exterior [5]. Similarly, other robots like GMD-Snake2 by Linnemann et al, SSR-II by Takeshi et al and the Orochi series by Takanash et al from NEC [33][34][35], have also extensively incorporated universal joints.…”

Section: Rotational Jointsmentioning

confidence: 99%

Design and architecture of a slender and flexible underwater robot

Wang,

Song,

Liu

et al. 2024

Intel Serv Robotics

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This paper presents the design and analysis of a biomimetic underwater snake-like robot, addressing the main limitations of current underwater robotic systems in terms of maneuverability and adaptability in complex environments. The innovative design incorporates flexible joint modules that significantly enhance the robot’s ability to navigate through narrow and irregular terrains, which is a notable limitation in traditional rigidly connected underwater robots. These flexible joints provide increased degrees of freedom and enable the robot to absorb and release energy, ensuring stability even under external impacts, thus extending the operational lifespan of the robot. Finite element analysis demonstrates the flexible joints’ superior performance in various underwater conditions, offering a greater range of motion and workspace compared to rigid connections. The results indicate that the robot’s modular design, combined with the flexible joint module, leads to improved agility and maneuverability, allowing for precise and intentional operation. The control module, equipped with advanced sensors and a CPU, manages the complex dynamics introduced by the flexible joints, ensuring effective navigation and operation. The specific advantages of this design include the robot’s enhanced structural integrity, its ability to conform to irregular surfaces, and its adaptability to environmental variations. The paper concludes with a discussion on the implications of these findings for the future design and operation of underwater serpentine robots, emphasizing the need for a balance between the effects of elastic modulus and workspace to maximize the benefits of flexible joints.

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Section: Rotational Jointsmentioning

confidence: 99%

Design and architecture of a slender and flexible underwater robot

Wang,

Song,

Liu

et al. 2024

Intel Serv Robotics

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“…where Phase Portrait of Periodic Motion As shown in (2) and (3), the only input of this system is the torque 2. It is impossible to control the angles of joint 1 and joint 2 independently; however, to determine the motion of this system, it is necessary to control one of the two joints.…”

Section: August 1999mentioning

confidence: 99%

Swing motion control of casting manipulation

Arisumi

Kotoku²,

Komoriya³

1999

IEEE Control Syst.

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obots characteristically require a large work space, which is difficult to achieve with conventional manipulators due to mechanical limitations such as link length. Extending the link length or adding extra degrees of freedom [l], [2] could increase weight or produce inefficiency of operation. Mobile manipulators are a possible means for enlarging the work space [ 3 ] ; however, they cannot reach places such as deep depressions Namiki 1-2, Tsukuba City, Japan, arisurni@mel.go.jp. or steep slopes.To solve these problems, we focus on the human skills of fly fishing or lassoing as a sim-~~~ A version of this article andAutornation, Leuven, Belgium, ~ ple way of catching a distant target object. To apply these skills to robot manipulation, we proposed a new type of manipulator called a casting manipulator [4], which consists of r. With its small 56 0272-1708/99/$1#.0#019991EEE

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“…180 m/h speed, on an average mission length of 100 meters from the base station, thus limiting the number of samples returned per day. On the other hand, the alternative of building arms with either very long links [2] or many links [3], [4] seems to be applicable only in some very specific cases, for instance in the absence of gravity, and yet imposes the use of very wide mechanical structures despite the extension of their reachable spaces.…”

Section: Introductionmentioning

confidence: 99%

Design and control of a novel 3D casting manipulator

Fagiolini

Belo

Catalano

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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This paper focuses on casting manipulation and presents an innovative mechanism that allows objects placed in a three-dimensional space to be reached with a relatively small robot. Casting manipulation is a technique by which a robotic end-effector is thrown and its ballistic flight is controlled through a tether cable so as to reach a target object. Previous work presented a solution that is viable only when the position of the target object is perfectly known or aligned with the throwing plane. Our work extends the technique by use of a novel mechanical design of the arm, and a suitable control scheme for the flight of the end-effector, which makes it applicable for objects placed at generic positions in a threedimensional environment. Effectiveness of the casting robot was shown during the first ESA Lunar Robotics Challenge, where our team came in the second place.

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Simulated and experimental results of dual resolution sensor based planning for hyper-redundant manipulators

Cited by 17 publications

References 19 publications

Design and architecture of a slender and flexible underwater robot

Design and architecture of a slender and flexible underwater robot

Swing motion control of casting manipulation

Design and control of a novel 3D casting manipulator

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