Analysis and experiments with an elephant's trunk robot

作者：M.W. Hannan, Ian D. Walker · 发表于：Advanced Robotics · 年份：2001 · DOI：10.1163/156855301317198160 · 被引用次数：98 · 研究领域：Modular Robots and Swarm Intelligence、Robotic Locomotion and Control、Robotic Path Planning Algorithms

The 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.