{"title":"JPL蛇形机器人:用于检测的12自由度系统","authors":"E. Paljug, T. Ohm, S. Hayati","doi":"10.1109/ROBOT.1995.525732","DOIUrl":null,"url":null,"abstract":"The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6-DOF manipulators cannot similarly function. This paper describes the Serpentine Robot mechanical design, a low level inverse kinematic algorithm for the joint assembly, a brief synopsis of control development to date, and the applications of this technology.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"103","resultStr":"{\"title\":\"The JPL Serpentine Robot: a 12-DOF system for inspection\",\"authors\":\"E. Paljug, T. Ohm, S. Hayati\",\"doi\":\"10.1109/ROBOT.1995.525732\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6-DOF manipulators cannot similarly function. This paper describes the Serpentine Robot mechanical design, a low level inverse kinematic algorithm for the joint assembly, a brief synopsis of control development to date, and the applications of this technology.\",\"PeriodicalId\":432931,\"journal\":{\"name\":\"Proceedings of 1995 IEEE International Conference on Robotics and Automation\",\"volume\":\"13 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1995-05-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"103\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 1995 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1995.525732\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1995.525732","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The JPL Serpentine Robot: a 12-DOF system for inspection
The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6-DOF manipulators cannot similarly function. This paper describes the Serpentine Robot mechanical design, a low level inverse kinematic algorithm for the joint assembly, a brief synopsis of control development to date, and the applications of this technology.
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