contributor author | Howie Choset | |
contributor author | Wade Henning | |
date accessioned | 2017-05-08T21:15:59Z | |
date available | 2017-05-08T21:15:59Z | |
date copyright | April 1999 | |
date issued | 1999 | |
identifier other | %28asce%290893-1321%281999%2912%3A2%2865%29.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/44897 | |
description abstract | Serpentine robots offer advantages over traditional mobile robots and robot arms because they have 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 bridge inspection, 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. | |
publisher | American Society of Civil Engineers | |
title | A Follow-the-Leader Approach to Serpentine Robot Motion Planning | |
type | Journal Paper | |
journal volume | 12 | |
journal issue | 2 | |
journal title | Journal of Aerospace Engineering | |
identifier doi | 10.1061/(ASCE)0893-1321(1999)12:2(65) | |
tree | Journal of Aerospace Engineering:;1999:;Volume ( 012 ):;issue: 002 | |
contenttype | Fulltext | |