Field trials and testing of the OctArm continuum manipulator

被引：391

作者：

McMahan, W. ^{[1
]}

Chitrakaran, V. ^{[1
]}

Csencsits, M. ^{[1
]}

Dawson, D. ^{[1
]}

Walker, I. D. ^{[1
]}

Jones, B. A. ^{[2
]}

Pritts, M. ^{[3
]}

Dienno, D. ^{[3
]}

Grissom, M. ^{[3
]}

Rahn, C. D. ^{[3
]}

机构：

[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

[2] Mississippi State Univ, Dept Elect & Comp Engn, Mississippi State, MS 39762 USA

[3] Penn State Univ, Dept Mech Engn, University Pk, PA 16802 USA

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年

关键词：

continuum manipulators;

D O I：

10.1109/ROBOT.2006.1642051

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：2336 / +

页数：3

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