Generalized software components for reconfiguring hyper-redundant manipulators. Pryor, M., Taylor, R., Kapoor, C., & Tesar, D. IEEE/ASME Transactions on Mechatronics, 7(4):475–478, December, 2002. Conference Name: IEEE/ASME Transactions on Mechatronics
doi  abstract   bibtex   
An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making. The developed application allows an operator to interactively reconfigure modular chains into parallel mechanisms, gait structures, and multiarm systems while maintaining full kinematic control of each chain. Examples using spatial systems with various geometries are presented with application pseudocode to illustrate high-level program development using OSCAR.
@article{pryor_generalized_2002,
	title = {Generalized software components for reconfiguring hyper-redundant manipulators},
	volume = {7},
	issn = {1941-014X},
	doi = {10.1109/TMECH.2002.806229},
	abstract = {An application of Operational Software Components for Advanced Robotics (OSCAR) - a generalized robotic software framework - for kinematic control of hyper-redundant, self-reconfigurable systems is presented. OSCAR includes generalized kinematics, dynamics, device interfacing, and criteria-based decision making. The developed application allows an operator to interactively reconfigure modular chains into parallel mechanisms, gait structures, and multiarm systems while maintaining full kinematic control of each chain. Examples using spatial systems with various geometries are presented with application pseudocode to illustrate high-level program development using OSCAR.},
	number = {4},
	journal = {IEEE/ASME Transactions on Mechatronics},
	author = {Pryor, Mitch and Taylor, Ross and Kapoor, Chetan and Tesar, Delbert},
	month = dec,
	year = {2002},
	note = {Conference Name: IEEE/ASME Transactions on Mechatronics},
	keywords = {Kinematics, Manipulators, OSCAR, Reduncancy, modular chains, self-reconfigurable robots},
	pages = {475--478},
}

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