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Analysis and experiments with an elephant's trunk robotThe area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.
Document ID
20040087700
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Hannan, M. W.
(Clemson Univ, Dept Elect & Comp Engn; Clemson, SC 29634, United States)
Walker, I. D.
Date Acquired
August 21, 2013
Publication Date
December 1, 2001
Publication Information
Publication: Advanced robotics : the international journal of the Robotics Society of Japan
Volume: 15
Issue: 8
ISSN: 0169-1864
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Public
Copyright
Other
Keywords
Non-NASA Center
NASA Discipline Space Human Factors

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