Shape Adaptation of Planar Hyper-redundant Manipulators to Environment Using Multiple Proximity Sensors

Kenji Inoue; Hiroyuki Tani; Tatsuo Arai; Yasushi Mae

doi:10.11499/sicep.2002.0.330.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.330.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Shape Adaptation of Planar Hyper-redundant Manipulators to Environment Using Multiple Proximity Sensors

Kenji Inoue, Hiroyuki Tani, Tatsuo Arai, Yasushi Mae

Author information

Keywords: Hyper-redundant Manipulator, Shape Adaptation, Obstacle Avoidance, Proximity Sensor

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 330

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Abstract

We have already proposed a distributed control method for hyper-redundant manipulators: a manipulator expands, contracts and bends along the shape of complicated and unknown environment. This method is applied a planar manipulator consisting of serially connected joint units with many proximity sensors. The sensor can measure the distance to an object in short range. A method of obstacle aboidance in long and narrow space like pipes is proposed. Simulation results show the effectiveness of the method.

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