Chapter
Apr 26, 2012
Motion Planning for Serpentine Robots
Authors: Wade Henning, Frank Hickman, and Howie ChosetAuthor Affiliations
Publication: Robotics 98
Abstract
Serpentine robots offer advantages over traditional mobile robots and robot arms because they provide enhanced flexibility and reachability, especially in convoluted environments. These robots are well suited to inspect large space-fairing truss structures such as the future space station and can also be used to inspect the Space Shuttle cargo bay before launch. Serpentine mechanisms offer unique capabilities on Earth to applications such as search and rescue, surface coating, and minimally invasive surgery. The work, described in this paper, will exploit a geometric structure, termed a roadmap, to guide the motions of a serpentine robot in highly convoluted spaces. This approach offers advantages over previous work with serpentine robots because it provides a general mathematical structure that is not mechanism specific, thereby having applications to a large class of problems.
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© 1998 American Society of Civil Engineers.
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Published online: Apr 26, 2012
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ASCE Technical Topics:
- Aerospace engineering
- Aircraft and spacecraft
- Automation and robotics
- Bays
- Coastal engineering
- Coasts, oceans, ports, and waterways engineering
- Continuum mechanics
- Dynamics (solid mechanics)
- Engineering fundamentals
- Engineering mechanics
- Motion (dynamics)
- Solid mechanics
- Space colonies
- Space exploration
- Space stations
- Space structures
- Space truss
- Structural engineering
- Structural members
- Structural systems
- Systems engineering
- Trusses
Authors
Affiliations
Wade Henning
Carnegie Mellon University, Pittsburg, PA
Frank Hickman
Carnegie Mellon University, Pittsburg, PA
Howie Choset
Carnegie Mellon University, Pittsburg, PA
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