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Snake-like robots are a class of hyper-redundant bionic robots. They have small cross-section and many degrees of freedom (DOFs), making them ideally suited to travel on confined spaces such as underwater caves, sunken vessels, collapsed buildings, and so on. Especially, an amphibious snake-like robot can move both on ground and underwater. In this paper,(More)
Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed the control system for an intelligent monitoring robot used in nuclear power plants. The control system is actually a two-level(More)
To avoid large cost and danger of Extravehicular activity (EVA) and planetary surface exploration, a humanoid robot with high flexibility and mobility is under development. This robot is composed of two 7-DOF (degree of freedom) arms, a 1-DOF waist and two 3-DOF legs. This paper established the kinematics model and addressed whole-body coordinated motion(More)
Replacing of orbital replacement units by a manipulator has important significances in economic and safety aspects on space station. In this paper, the replacement task flow is analyzed in detail, and the manipulator's different working modes in the task are divided. Refer to different working modes, open loop path planning algorithm, vision-based close(More)
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