Manipulability, force, and compliance analysis for planar continuum manipulators.
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.
Gravagne
Ian A
IA
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634, USA. igravag@ces.clemson.edu
Walker
Ian D
ID
D000465:Algorithms; D000818:Animals; D001696:Biomechanical Phenomena; D004548:Elasticity; D004606:Elephants; D004738:Engineering; D004867:Equipment Design; D005069:Evaluation Studies as Topic; D007596:Joints; D007698:Kinesis; D008433:Mathematics; D008954:Models, Biological; D009068:Movement; D018583:Pliability; D012371:Robotics