U-005

A Novel `Elephant's Trunk' Robot

Authors: Ian D. Walker and Michael W. Hannan
Affiliation: Electrical and Computer Engineering, Clemson University

Abstract
We introduce and describe a novel 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. In this paper, we describe the design of the manipulator, and discuss its kinematics, novel capabilities, and potential for grasping and manipulation.

Professor Ian D. Walker
Department of Electrical and Computer Engineering
Fluor Daniel Engineering Innovation Building
Clemson University
Clemson, SC 29634
Fax: (864) 656-7220
Phone: (864) 656-7209
ianw@ces.clemson.edu