30 DOF ROBOT

30 DOF ROBOT

1. Application scenarios

   • Tentacle - like grasping and object reorientation
     • Capturing and despinning free floating satellites
     • Complex 'whole arm' manipulation xperiments
   • Operations in highly constrained environments
     • Medical endoscopy
     • Nuclear reactor
     • Chemical sampling in buried toxic waste containers
   • Exploration in complex environments
     • Emergency response vehicles colapsed
     • Sensor placement in complicated geological formation

2. Hyper - redundant manipulators

   • analogous
   • Novel forms robotic locomotion
   • are not anthropomorphic
   • Morphologies
     • VGT

3. Actuators and control system

   • Control structural resonances
   • Actuators with high bandwidth
     • Very little stroke

4. Experiments

   • Obstacle Avoidance
   • Single - Arm Grasping
   • Dual Arm Manipulation