Theoretical model of a continuum manipulator
Authors
Basu, Shaunak
ORCID
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Other Contributors
Patterson, Stacy
Gittens, Alex
Magdon-Ismail, Malik
Trinkle, Jeffrey
Gittens, Alex
Magdon-Ismail, Malik
Trinkle, Jeffrey
Issue Date
2020-12
Keywords
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.
Full Citation
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
School of Science
Department
Dept. of Computer Science
Publisher
Rensselaer Polytechnic Institute, Troy, NY
Relationships
Rensselaer Theses and Dissertations Online Collection
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