Design and Experiments with a 30 DOF Robot

I n previous work, the authors developed a novel f ramework for ‘hyper-redundant’ robot kinematic analysis and algorithm development. In order t o validate and denioiistrate that work, a 30 degree-of-freedom planar hyper-redundant manipulator was constructed. This paper reviews the implementation of this robot and su1))iiiari:es experimental work in hyper-redundant manipulrilion, obstacle avoidance, and locomotion. Potential benefits of high-dof manipulators include superior obstacle avoidance ability, increased robustness with. respect t o mechanical failure, and the ability t o perfonii new f o r m s of robot locomotion and grasping.