Manipulability, force, and compliance analysis for planar continuum manipulators

  title={Manipulability, force, and compliance analysis for planar continuum manipulators},
  author={Ian A. Gravagne and Ian D. Walker},
  journal={IEEE transactions on robotics and automation : a publication of the IEEE Robotics and Automation Society},
  volume={18 3},
Continuum manipulators, inspired by the natural capabilities of elephant trunks and octopus tentacles, may find niche applications in areas like human-robot interaction, multiarm manipulation, and unknown environment exploration. However, their true capabilities will remain largely inaccessible without proper analytical tools to evaluate their unique properties. Ellipsoids have long served as one of the foremost analytical tools available to the robotics researcher, and the purpose of this… CONTINUE READING
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Novel kinematics for continuum robots

M. Hannan, I. D. Walker
Proc. 7th Int. Symp. Advances in Robot Kinematics , Piran, Slovenia, June 2000, pp. 227–238. • 2000
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I. D. Walker, M. W. Hannan
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