EXTENSION VERSUS BENDING FOR CONTINUUM ROBOTS

Robin McDonnell, George Grimes, Ian D. Walker, Carlos Carreras

Abstract

In this paper, we analyze the capabilities of a novel class of continuous-backbone (“continuum”) robots. These robots are inspired by biological “trunks, and tentacles”. However, the capabilities of established continuum robot designs, which feature controlled bending but not extension, fall short of those of their biological counterparts. In this paper, we argue that the addition of controlled extension provides dual and complementary functionality, and correspondingly enhanced performance, in continuum robots. We present an interval-based analysis to show how the inclusion of controllable extension significantly enhances the workspace and capabilities of continuum robots.

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Paper Citation


in Harvard Style

McDonnell R., Grimes G., D. Walker I. and Carreras C. (2005). EXTENSION VERSUS BENDING FOR CONTINUUM ROBOTS . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 258-265. DOI: 10.5220/0001175502580265


in Bibtex Style

@conference{icinco05,
author={Robin McDonnell and George Grimes and Ian D. Walker and Carlos Carreras},
title={EXTENSION VERSUS BENDING FOR CONTINUUM ROBOTS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={258-265},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001175502580265},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - EXTENSION VERSUS BENDING FOR CONTINUUM ROBOTS
SN - 972-8865-30-9
AU - McDonnell R.
AU - Grimes G.
AU - D. Walker I.
AU - Carreras C.
PY - 2005
SP - 258
EP - 265
DO - 10.5220/0001175502580265