ICRA 2012 Paper Abstract


Paper WeD09.6

Degani, Amir (Technion - Israel Institute of Technology), Tully, Stephen (Carnegie Mellon University), Zubiate, Brett (Medrobotics), Choset, Howie (Carnegie Mellon University)

Over-Tube Apparatus for Increasing the Capabilities of an Articulated Robotic Probe

Scheduled for presentation during the Video Session "Video Session" (WeD09), Wednesday, May 16, 2012, 16:55−17:00, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 19, 2018

Keywords Medical Robots and Systems, Mechanism Design of Manipulators


This video elaborates on a new active and controllable over-tube addition to the highly articulated robotic probe; the HARP. This over-tube allows the current HARP mechanism to double its overall length and allows it to perform more complex tasks. We explain the design concept of the current HARP and the novel over-tube mechanism and show two proof-of-concept experiments demonstrating the use of the active over-tube.



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