Simplified Architecture of a Hyper Redundant Robot for Wheel-Less Locomotion

Authors

  • Ginu Paul A
  • Ritwik Aravind

Keywords:

Robot Manipulator, snake-like locomotion, HRR

Abstract

Hyper-redundant robots (HRR) have a very large degree of kinematic redundancy, and are analogous in morphology and operation to snakes, elephant trunks, and tentacles. These are highly articulated devices can co-ordinate their internal degrees of freedom to perform a variety of locomotion capabilities that go beyond the capabilities of conventional wheeled and the recently developed legged robots. Snake-like locomotion and worm locomotion is considered here to achieve hyper redundancy. The title is derived from a thorough literature survey on current research trends in robotics. The Robot manipulator will be created from a sequence of link and joint combinations. Redundancy in manipulator design has been recognized as a means to improve manipulator performance in complex and unstructured environments. The mechanical design and implementation of hyper-redundant robots has been perceived as unnecessarily complex. The objective of my project is to implement much simpler mechanical design for attaining a snake-like locomotion without losing much locomotion efficiency and cost effectiveness.

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Published

2017-01-01

How to Cite

Ginu Paul A, & Ritwik Aravind. (2017). Simplified Architecture of a Hyper Redundant Robot for Wheel-Less Locomotion. Journal of Network and Innovative Computing, 5, 9. Retrieved from https://cspub-jnic.org/index.php/jnic/article/view/132

Issue

Vol. 5 (2017)

Section

Original Article

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