A novel 'elephant's trunk' robot

摘要

We introduce and describe a hyperredundant robot manipulator. The manipulator features a segmented 'backbone' with a total of 32 degrees of freedom. Actuation is provided via a series of tendons routed through the structure. In function, the manipulator has capabilities similar to that of the trunk of an elephant, with the ability to bend into numerous shapes, and conform easily to the environment. We describe the design of the manipulator, and discuss its kinematics, novel capabilities, and potential for grasping and manipulation.