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Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks
Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design f...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7218898/ https://www.ncbi.nlm.nih.gov/pubmed/32290619 http://dx.doi.org/10.3390/s20082181 |
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author | Martín-Barrio, Andrés Roldán-Gómez, Juan Jesús Rodríguez, Iván del Cerro, Jaime Barrientos, Antonio |
author_facet | Martín-Barrio, Andrés Roldán-Gómez, Juan Jesús Rodríguez, Iván del Cerro, Jaime Barrientos, Antonio |
author_sort | Martín-Barrio, Andrés |
collection | PubMed |
description | Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications. |
format | Online Article Text |
id | pubmed-7218898 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-72188982020-05-22 Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks Martín-Barrio, Andrés Roldán-Gómez, Juan Jesús Rodríguez, Iván del Cerro, Jaime Barrientos, Antonio Sensors (Basel) Article Hyper-redundant robots are highly articulated devices that present numerous technical challenges such as their design, control or remote operation. However, they offer superior kinematic skills than traditional robots for multiple applications. This work proposes an original and custom-made design for a discrete and hyper-redundant manipulator. It is comprised of 7 sections actuated by cables and 14 degrees of freedom. It has been optimized to be very robust, accurate and capable of moving payloads with high dexterity. Furthermore, it has been efficiently controlled from the actuators to high-level strategies based on the management of its shape. However, these highly articulated systems often exhibit complex shapes that frustrate their spatial understanding. Immersive technologies emerge as a good solution to remotely and safely teleoperate the presented robot for an inspection task in a hazardous environment. Experimental results validate the proposed robot design and control strategies. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an important role in the near future of automated and remote applications. MDPI 2020-04-12 /pmc/articles/PMC7218898/ /pubmed/32290619 http://dx.doi.org/10.3390/s20082181 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Martín-Barrio, Andrés Roldán-Gómez, Juan Jesús Rodríguez, Iván del Cerro, Jaime Barrientos, Antonio Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
title | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
title_full | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
title_fullStr | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
title_full_unstemmed | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
title_short | Design of a Hyper-Redundant Robot and Teleoperation Using Mixed Reality for Inspection Tasks |
title_sort | design of a hyper-redundant robot and teleoperation using mixed reality for inspection tasks |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7218898/ https://www.ncbi.nlm.nih.gov/pubmed/32290619 http://dx.doi.org/10.3390/s20082181 |
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