Author
Basu, Shaunak
Other Contributors
Magdon-Ismail, Malik; Trinkle, Jeffrey; Patterson, Stacy; Gittens, Alex;
Date Issued
2020-12
Subject
Computer science
Degree
MS;
Terms of Use
This electronic version is a licensed copy owned by Rensselaer Polytechnic Institute (RPI), Troy, NY. Copyright of original work retained by author.;
Abstract
Continuum manipulators have a higher degree of maneuverability in constrained environments compared to conventional robots. Unconventional actuators along with soft structures increases their flexibility and make them favourable for uncertain environments. Different types of continuum manipulators are available which are modeled differently. In this work, we present a theoretical model which has been inspired by muscular hydrostats. We focus on one such muscular hydrostat, the elephant trunk and try to emulate its behaviour. We formulate the forward kinematics of our model and explore the inverse kinematics along with other relevant characteristics.;
Description
December 2020; School of Science
Department
Dept. of Computer Science;
Publisher
Rensselaer Polytechnic Institute, Troy, NY
Relationships
Rensselaer Theses and Dissertations Online Collection;
Access
Restricted to current Rensselaer faculty, staff and students in accordance with the
Rensselaer Standard license. Access inquiries may be directed to the Rensselaer Libraries.;
