A DOF State Controllable & Driving Shared Solution for Building a Hyper-Redundant Chain Robot

被引：2
|
作者：
Ning, KeJun [1 ]
Woergoetter, Florentin [1 ]
机构：
[1] Univ Gottingen, Bernstein Ctr Computat Neurosci, D-37073 Gottingen, Germany
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
D O I：
10.1109/IROS.2009.5354795
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper puts forward a novel design solution for building a 3D hyper-redundant chain robot (HRCR) system, which consists of linked, identical modules and one base module. All the joints of this HRCR are passive and state controllable, and share common inputs introduced by wire-driven control, no matter how many degrees of freedom (DOF) are implemented using different numbers of modules. The prototype developed here, named 3D-Trunk, is used as a proof of concept. We will present here its concept, mechanical and embedded controller design and the implementation.
引用
收藏
页码：5880 / 5885
页数：6
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