Three degrees-of-freedom joint for spatial hyper-redundant robots

DOI10.1016/J.MECHMACHTHEORY.2005.04.008zbMATH Open1159.70328OpenAlexW2036366282MaRDI QIDQ2581748FDOQ2581748

Authors: Elie Shammas, Alon Wolf, Howie Choset 

Publication date: 10 January 2006

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2005.04.008

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zbMATH Keywords

Snake robotKinematicsMechanical designDegrees-of-freedomHyper-redundant robotRobotic joint

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Cited In (2)

• A dexterous humanoid shoulder mechanism
• A natural redundancy-resolution for 3-D multi-joint reaching under the gravity effect

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