Open document
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General information |
| Author |
Cowan, Lara S.; Walker, Ian D. |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
In this paper, we examine key issues
underlying the design and operation of robots featuring
continuous body (“continuum”) elements. We contrast
continuum and continuum‐like robots created to date
with their counterparts in the natural world. It is
observed that natural continuum locomotors or
manipulators almost invariably rely on hard or discrete
elements (in their structure or operation) in their
interactions with their environment. We suggest
innovations in continuum robot design and operation
motivated by this observation, supported by
experiments using the “Tendril” continuum robot. The
results suggest new ways in which continuum robot
operations could be significantly enhanced. In
particular, the exploitation of “hard” and “discrete”
environmental features can greatly enhance stability in
continuum robot operations, compensating for inherent
backbone compliance. Additionally, the incorporation of
discrete behaviours (sweeping and striking with the
backbone) can both compensate for imprecision in
continuum robot control and enable new impulsive
manipulation modes. We discuss the implications for
the creation and potential application of novel hybrid
continuum and discrete robots. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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