• Login
    View Item 
    •   DSpace@RPI Home
    • Rensselaer Libraries
    • z_Technical Services
    • View Item
    •   DSpace@RPI Home
    • Rensselaer Libraries
    • z_Technical Services
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Theoretical model of a continuum manipulator

    Author
    Basu, Shaunak
    View/Open
    Basu_rpi_0185N_11707.pdf (1.017Mb)
    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.;
    Metadata
    Show full item record
    URI
    https://hdl.handle.net/20.500.13015/6310
    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.;
    Collections
    • z_Technical Services

    Browse

    All of DSpace@RPICommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    Login

    DSpace software copyright © 2002-2023  DuraSpace
    Contact Us | Send Feedback
    DSpace Express is a service operated by 
    Atmire NV