This video accompanies the paper "A geometrical approach to inverse kinematics for continuum manipulators" available at http://www.ece.msstate.edu/wiki/index.php/Robotics_research_group#Publications . The red segment shows base of the robot; the end of the blue segment shows the robot's tip at a fixed point in space. White lines show the two triangles used to compute the end of each segment. This video shows the movement of the trunk as it rotates about the line segment from the red base section to the blue tip section.
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