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PubMed · 12492083

Manipulability, force, and compliance analysis for planar continuum manipulators.

Ian A Gravagne·Ian D Walker
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Abstract

Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as one of the foremost analytical tools available to the robotics researcher, and the purpose of this paper is to first formulate, and then to examine, three types of ellipsoids for continuum robots: manipulability, force, and compliance.

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AlgorithmsAnimalsBiomechanical PhenomenaElasticityElephantsEngineeringEquipment DesignEvaluation Studies as TopicJointsKinesisMathematicsModels, BiologicalMovementPliabilityRoboticsNASA Discipline Space Human FactorsNon-NASA CenterComparative StudyJournal ArticleResearch Support, Non-U.S. Gov'tResearch Support, U.S. Gov't, Non-P.H.S.

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Ian A Gravagne, Ian D Walker. 2002. Manipulability, force, and compliance analysis for planar continuum manipulators.. https://doi.org/10.1109/tra.2002.1019457

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