Analysis and experiments with an elephant's trunk robot

Hannan, M. W.; Walker, I. D.

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NASA NTRS · 20040087700

Analysis and experiments with an elephant's trunk robot

Hannan, M. W.·Walker, I. D.

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Abstract

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

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Non-NASA Center NASA Discipline Space Human Factors Elephants Pliability Movement Models, Biological Robotics Animals Joints Spine Mathematics Biomechanics Algorithms Muscle, Skeletal Equipment Design

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Hannan, M. W., Walker, I. D.. 2001-12-01. Analysis and experiments with an elephant's trunk robot. https://ntrs.nasa.gov/citations/20040087700

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