Field trials and testing of the OctArm continuum manipulator

W. McMahan, V. Chitrakaran, M. Csencsits, D. Dawson, I. D. Walker, B. A. Jones, M. Pritts, D. Dienno, M. Grissom, Christopher D. Rahn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

289 Scopus citations

Abstract

This paper describes the results of field trials and associated testing of the OctArm series of multi-section continuous backbone "continuum" robots. This novel series of manipulators has recently (Spring 2005) undergone a series of trials including open-air and in-water field tests. Outcomes of the trials, in which the manipulators demonstrated the ability for adaptive and novel manipulation in challenging environments, are described. Implications for the deployment of continuum robots in a variety of applications are discussed.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages2336-2341
Number of pages6
DOIs
StatePublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    McMahan, W., Chitrakaran, V., Csencsits, M., Dawson, D., Walker, I. D., Jones, B. A., Pritts, M., Dienno, D., Grissom, M., & Rahn, C. D. (2006). Field trials and testing of the OctArm continuum manipulator. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 2336-2341). [1642051] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642051