期刊
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
卷 18, 期 3, 页码 263-273出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRA.2002.1019457
关键词
compliance; continuum robot; ellipsoid; hyperredundant; manipulability
Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may rind 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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据