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Theory and Applications of Hyper-Redundant Robotic Manipulators


Chirikjian, Gregory Scott (1992) Theory and Applications of Hyper-Redundant Robotic Manipulators. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/F12D-0X25.


The term "hyper-redundant" refers to robotic manipulators and mobile robots with a very large, possibly infinite, number of actuatable degrees of freedom. These robots are analogous in morphology and operation to snakes, worms, elephant trunks, and tentacles. This thesis presents a novel kinematic framework for hyper-redundant manipulator motion planning and task implementation. The basis of this formulation is the use of a "backbone reference set" which captures the essential macroscopic geometric features of hyper-redundant robots. In the analytical part of this work, the backbone representation is developed and used to solve problems in obstacle avoidance, locomotion, grasping, and "optimal" end effector placement. The latter part of this thesis deals with the design and implementation of a thirty-degree-of-freedom planar hyper-redundant manipulator which is used to demonstrate these novel kinematic and motion planning techniques. Design issues such as robustness with respect to mechanical failure, and design for easy assembly and repair are also addressed. The analytical and design concepts are combined to illustrate tasks for which hyper-redundant robotic mechanisms are well suited.

Item Type:Thesis (Dissertation (Ph.D.))
Subject Keywords:(Applied Mechanics)
Degree Grantor:California Institute of Technology
Division:Engineering and Applied Science
Major Option:Applied Mechanics
Thesis Availability:Public (worldwide access)
Research Advisor(s):
  • Burdick, Joel Wakeman
Thesis Committee:
  • Burdick, Joel Wakeman (chair)
  • Antonsson, Erik K.
  • Knowles, James K.
  • Murray, Richard M.
  • Hayati, S.
Defense Date:22 May 1992
Record Number:CaltechETD:etd-11082006-132210
Persistent URL:
Default Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:4458
Deposited By: Imported from ETD-db
Deposited On:07 Dec 2006
Last Modified:30 Aug 2022 22:35

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