Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots

By Michael W. Hannan, Ian D. Walker. J. Field Robotics, 2003

718 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/008b7fbda45b9cd63c89ee5ed3f8e6b2b6bf8457

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In Biomedical Engineering

In Control and Systems Engineering

Citations in the corpus

Continuous Backbone “ Continuum ” Robot Manipulators : A Review (2013, neutral): “Planar multisection kinematic models can be easily created by chaining together (multiplying the homogeneous transformation matrices) the models for the individual sections [17].”
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review (2010, methodology): “Note that the entries in Table 2 have been modified from Hannan and Walker (2003) so that the arc curves about the y -axis, following the convention established earlier.”
A Variable Curvature Continuum Kinematics for Kinematic Control of the Bionic Handling Assistant (2014, methodology): “To achieve the desired manipulator motion, one or more serially connected and individually controlled sections are deformed using actuation principles like tendon drives [3], [4], precurved tubes [7], [8], and fluid-driven muscles or bellows [6], [9].”
Soft Manipulators and Grippers: A Review (2016, background): “Many continuum robots make use of cable-driven actuation systems (Cieslak and Morecki, 1999; Gravagne and Walker, 2002; Hannan and Walker, 2003; McMahan et al., 2005; Camarillo et al., 2009).”
Field trials and testing of the OctArm continuum manipulator (2006, background): “This improved functionality leads to many applications in industrial, space, and defense robotics.”
Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory (2008, background): “Examples of the performance of mechanisms with the above mentioned characteristics, known as modular spatial hyper-redundant manipulators (hereafter MSHRM for brevity) can be found in nature itself, giving birth to mechanical systems with illustrative names like snake [14, 15]; serpentine [16], tent”
Geometrically Exact Models for Soft Robotic Manipulators (2008, background): “Hannan and Walker [6] assume that each section of the manipulator bends into a circular arc with constant curvature and an inextensible backbone.”
Caterpillar locomotion: A new model for soft- bodied climbing and burrowing robots (2006, background): “Several ingenious flexible designs have been developed based on peristalsis [13-15], conformable wheels [16], or continuously bending elements (“continuum robots”)[17, 18].”
Mechanics of Precurved-Tube Continuum Robots (2009, background): “Continuously flexible (“continuum”) robots [1]–[6] provide an alternative, although most designs require wires [5], [7], [8], flexible push rods [9], pneumatic actuators [4], [6], or other external actuation mechanisms that limit miniaturization.”
Continuum Robots for Medical Applications: A Survey (2015, neutral): “H parameters [104], [105], Frenet–Serret frames [104], integral representation [18], and exponential coordinates [59], [106].”
Design, kinematics, and control of a soft spatial fluidic elastomer manipulator (2016, methodology): “Examples of discrete hyper-redundant robot manipulators include the 32 DOFs elephant trunk manipulator developed in Hannan and Walker (2003) and the 10 DOFs snake arm robot developed in Buckingham (2002).”
Control Strategies for Soft Robotic Manipulators: A Survey (2018, neutral): “The simplest and most commonly used kinematic/steadystate model assumes that the configuration space of a threedimensional (3D) continuum/soft module can be parameterized by three variables, more commonly referred to as the constant curvature (CC) approximation.(13) It reduces an infinite dimensiona”