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scientific article; zbMATH DE number 1069608
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scientific article; zbMATH DE number 1069608 |
Statements
1 October 1997
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robot snakes for medical inspection
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motion planning
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control of highly articulated robots
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multifingered robot hands
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velocity constraints
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parking and docking maneuvers
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rolling contacts
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0.8349263072013855
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0.7718234062194824
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We discuss motion planning for mobile robots on factory floors (or on the surface of Mars), and control of highly articulated robots -- such as multifingered robot hands and robot ``snakes'' -- for medical inspection and manipulation inside the gastrointestinal trace. A common feature of these systems is the role of constraints on the behavior of the system. By studying the geometric nature of velocity constraints in a more general setting, it is possible to synthesize gaits for snake-like robots, to generate parking and docking maneuvers for automated vehicles, and to study the effects of rolling contacts on multifingered robot hands. For the entire collection see [Zbl 0868.00063].
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