Date of Award
Master of Science (MS)
Dr. Ian Walker, Committee Chair
Dr. Apoorva Kapadia
Dr. Adam Hoover
We describe the design and physical realization of a novel type of large-scale continuum robot. The design, based on a hybrid concentric-tube/tendon actuated structure, is realized at a significantly larger scale than previous concentric tube continuum robots, with an extended length well over one meter. While operation at this scale opens up new types of potential applications, realization at this scale presents interesting challenges. We detail and discuss the associated issues via the prototyping and testing of the physical system with the help of experiments.
Verma, Siddharth R., "Trunk Robot for Extended Environments" (2017). All Theses. 2680.