THE KINEMATICS OF HYPER-REDUNDANT ROBOT LOCOMOTION

被引：294

作者：

CHIRIKJIAN, GS ^{[1
]}

BURDICK, JW ^{[1
]}

机构：

[1] CALTECH,DEPT MECH ENGN,PASADENA,CA 91125

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 06期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/70.478426

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 considers the kinematics of hyper-redundant (or ''serpentine'') robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of ''gaits.'' The analysis and algorithms are based on a continuous backbone curve model which captures the robot's macroscopic geometry. Two classes of gaits, based on stationary waves and traveling waves of mechanism deformation, are introduced for hyper-redundant robots of both constant and variable length, We also illustrate how the locomotion algorithms can be used to plan the manipulation of objects which are grasped in a tentacle-like manner. Several of these gaits and the manipulation algorithm have been implemented on a 30 degree-of-freedom hyper-redundant robot, Experimental results are presented to demonstrate and validate these concepts and our modeling assumptions.

引用

页码：781 / 793

页数：13