Field trials and testing of the OctArm continuum manipulator

This paper describes the results of field trials and associated testing of the OctArm series of multi-section continuous backbone "continuum" robots. This novel series of manipulators has recently (Spring 2005) undergone a series of trials including open-air and in-water field tests. Outco...

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Bibliographic Details
Main Authors: McMahan, W., Chitrakaran, V., Csencsits, M., Dawson, D., Walker, I.D., Jones, B.A., Pritts, M., Dienno, D., Grissom, M., Rahn, C.D.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Contracts
Manipulators
Mechanical engineering
Muscles
Orbital robotics
Prototypes
Service robots
Spine
Testing
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Summary:This paper describes the results of field trials and associated testing of the OctArm series of multi-section continuous backbone "continuum" robots. This novel series of manipulators has recently (Spring 2005) undergone a series of trials including open-air and in-water field tests. Outcomes of the trials, in which the manipulators demonstrated the ability for adaptive and novel manipulation in challenging environments, are described. Implications for the deployment of continuum robots in a variety of applications are discussed
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2006.1642051