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ICRA
2002
IEEE

Optimized Binary Modular Reconfigurable Robotic Devices

9 years 5 months ago
Optimized Binary Modular Reconfigurable Robotic Devices
—Binary robotic devices with large degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized magnet-coil actuators is proposed and developed as an element for modular hyper-redundant degrees of freedom robotic systems. Such elements could be used in a number of applications and would replace conventional, complex, and heavy components. The device has a parallel kinematic structure. Its binary actuation simplifies its control architecture.
Moustapha Hafez, Matthew D. Lichter, Steven Dubows
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Moustapha Hafez, Matthew D. Lichter, Steven Dubowsky
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