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Authors: Robin McDonnell 1 ; George Grimes 1 ; Ian D. Walker 1 and Carlos Carreras 2

Affiliations: 1 Clemson University, United States ; 2 E.T.S.I.T. Universidad Politecnica de Madrid, Spain

ISBN: 972-8865-30-9

Keyword(s): Robotics, Continuum, Manipulators, Intervals.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

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 several formats:
McDonnell R.; Grimes G.; D. Walker I.; Carreras C. and (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

@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},
}

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

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