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Stefan cel Mare
University of Suceava
Faculty of Electrical Engineering and
Computer Science
13, Universitatii Street
Suceava - 720229

Print ISSN: 1582-7445
Online ISSN: 1844-7600
WorldCat: 644266260
doi: 10.4316/AECE


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  4/2013 - 9

Computer Aided Design of a Hyper-redundant Manipulator

DUMITRU, S. See more information about DUMITRU, S. on SCOPUS See more information about DUMITRU, S. on IEEExplore See more information about DUMITRU, S. on Web of Science, COJOCARU, D. See more information about  COJOCARU, D. on SCOPUS See more information about  COJOCARU, D. on SCOPUS See more information about COJOCARU, D. on Web of Science, MARGHITU, D. See more information about MARGHITU, D. on SCOPUS See more information about MARGHITU, D. on SCOPUS See more information about MARGHITU, D. on Web of Science
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Download PDF pdficon (1,072 KB) | Citation | Downloads: 311 | Views: 1,734

Author keywords
biomimetics, CAD, motion analysis, manipulator dynamics, robot motion

References keywords
control(14), robots(8), cojocaru(8), redundant(7), hyper(7), robotics(6), systems(5), robot(5), dumitru(5), automation(5)
Blue keywords are present in both the references section and the paper title.

About this article
Date of Publication: 2013-11-30
Volume 13, Issue 4, Year 2013, On page(s): 51 - 56
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2013.04009
Web of Science Accession Number: 000331461300009
SCOPUS ID: 84890216380

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Bioinspired solution can support significant improvements across various fields of robotics, offering solutions to basic problems such as locomotion and manipulation in unstructured environments. This paper deals with the problem of using a bioinspired solution in building a hyper-redundant robotic arm. In the recent period, were developed an important number of application using like an octopus or like snake or like a trunk of elephant solutions for robotic arms. Such kind of projects must solve difficult problems on the way from design to implementation. The problems are mainly linked with the actuation solution, with the control of the structure, with sensors to close the control loop, technology for the implementation. In this paper we focus on the process of modelling, simulating, and designing of hyper-redundant robotic arm.

References | Cited By  «-- Click to see who has cited this paper

[1] M. W. Hannan, I. D. Walker, "Kinematics and the Implementation of an Elephant's Trunk Manipulator and other Continuum Style Robots", Journal of Robotic Systems, 20(2), 45-63, 2003.
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[2] D. Sofge, G. Chiang, "Design, Implementation, and Cooperative Coevolution of An Autonomous/Teleoperated Control System for a Serpentine Robotic Manipulator", Proceedings of the American Nuclear Society Ninth Topical Meeting on Robotics and Remote Systems, 2001.

[3] R. Behrens, M. Poggendorf, E. Schulenburg, N. Elkmann, "An Elephant's Trunk-Inspired Robotic Arm - Trajectory Determination and Control", Robotics, Proceedings of ROBOTIK 2012, 7th German Conference on, pp.1-5, 2012.

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[CrossRef] [SCOPUS Times Cited 5]

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[CrossRef] [SCOPUS Times Cited 54]

[7] Y. J. Kim, S. Cheng, S. Kim, K. Iagnemma, "Design of a Tubular Snake-like Manipulator with Stiffening Capability by Layer Jamming", 2012 IEEE/RSJ International Conference on, Intelligent Robots and Systems, Portugal, 2012.
[CrossRef] [SCOPUS Times Cited 19]

[8] R. V. Martinez, J. L. Branch, C. R. Fish, L. Jin, R. F. Shepherd, R. M. D. Nunes, Z. Suo, G. M. Whitesides, "Robotic Tentacles with Three-Dimensional Mobility Based on Flexible Elastomers", Advanced Materials, Vol. 25, Issue 2, pages 205-212, 2013.
[CrossRef] [Web of Science Times Cited 108] [SCOPUS Times Cited 131]

[9] M. Calisti, M. Giorelli, G. Levy, B. Mazzolai, B. Hochner, C. Laschi, P. Dario, "An octopus-bioinspired solution to movement and manipulation for soft robots", Bioinspiration & Biomimetics, Vol. 6, No. 3, 2011.
[CrossRef] [Web of Science Times Cited 65] [SCOPUS Times Cited 84]

[10] S. Bai, C. C. Xing, "Shape Modelling of a Concentric-tube Continuum Robot", Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics, Guangzhou, China, 2012.
[CrossRef] [SCOPUS Record]

[11] D. Cojocaru, G. Boccolato, I. Dinulescu, A. Predescu, F. Manta, S. Dumitru, "3D Control For A Truncated Cone Tentacle Kinematics", Solid State Phenomena, Vols. 166-167, Robotics and Automation Systems, pp 127-132, 2010.

[12] S. Dumitru, D. Cojocaru, F. Manta, "Experiments in Determining the Displacements and Angular Amplitudes of a Hyper-Redundant Robot", 15th International Conference on System Theory and Control Joint Conference SINTES 15, SACCS 11, SIMSIS 15, p199-204, 2011.

[13] M. Ivanescu, D. Cojocaru, N. Bizdoaca, M. Florescu, N. Popescu, D. Popescu, S. Dumitru, "Boundary Control by Boundary Observer for Hyper-redundant Robots", International Journal of Computers, Communications & Control, Vol. V, No. 5, pp. 755-767, 2010.

[14] M. Ivanescu, D. Cojocaru, N. Bizdoaca, M. Florescu, N. Popescu, D. Popescu, S. Dumitru, "A Boundary Sensor Control for a Hyper-redundant Arm", Studies in Informatics and Control Journal, Volume 19, Number 4, p391-402, 2010.

[15] G. Boccolato, I. Dinulescu, A. Predescu, D. Cojocaru, "Position Control of a Non Conventional Hyper Redundant Arm", Annals of the University of Craiova - Series: Automation, Computers, Electronics and Mechatronics, vol. 10(35) , No.2 - 2010.

[16] I. Dinulescu, A. Predescu, G. Boccolato, R. T. Tanasie, D. Cojocaru, "Control of a Hyper-redundant Robot", RAAD 2010 IEEE 19th International Workshop on, p435-440, 2010.
[CrossRef] [SCOPUS Times Cited 4]

[17] D. Cojocaru, M. Ivanescu, R. T. Tanasie, S. Dumitru, F. Manta, "Vision control for hyper-redundant robots", IJAA International Journal Automation Austria, Heft 1, Jahrgang 18, p 52-66, 2010.

[18] M. Ivanescu, D. Cojocaru, "Hyper Redundant Manipulators", Book: Advanced Strategies For Robot Manipulators, ISBN 978-953-307-099-5, p27-59, 2010.

[19] L. Vladareanu, G. Tont, I. Ion, M.S. Munteanu, D. Mitroi, "Walking Robots Dynamic Control Systems on an Uneven Terrain," Advances in Electrical and Computer Engineering, vol. 10, no. 2, pp. 145-152, 2010.
[CrossRef] [Full Text] [Web of Science Times Cited 21] [SCOPUS Times Cited 26]

[20] C. Chivu, "Movement Control of a Prosthesis Forefinger," Advances in Electrical and Computer Engineering, vol. 7, no. 1, pp.34-37, 2007.
[CrossRef] [Full Text]

[21] R. J. Webster III, B. A. Jones "Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review", Published online before print June 10, 2010, The International Journal of Robotics Research, November 2010, vol. 29 no. 13 1661-1683.
[CrossRef] [Web of Science Times Cited 215] [SCOPUS Times Cited 263]

[22] [Online] Available: Temporary on-line reference link removed - see the PDF document

[23] [Online] Available: Temporary on-line reference link removed - see the PDF document

[24] R. R. Craig Jr., M. C. C. Bampton, "Coupling of Structures for Dynamic Analysis", AIAA Journal, Vol. 6, No. 7, July 1968.

References Weight

Web of Science® Citations for all references: 599 TCR
SCOPUS® Citations for all references: 631 TCR

Web of Science® Average Citations per reference: 24 ACR
SCOPUS® Average Citations per reference: 25 ACR

TCR = Total Citations for References / ACR = Average Citations per Reference

We introduced in 2010 - for the first time in scientific publishing, the term "References Weight", as a quantitative indication of the quality ... Read more

Citations for references updated on 2016-12-04 16:07 in 66 seconds.

Note1: Web of Science® is a registered trademark of Thomson Reuters.
Note2: SCOPUS® is a registered trademark of Elsevier B.V.
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