LUDOVICO D.

This work describes the advancement in developing a cable-driven gear transmission joint designed as a basic element for a long-reach hyper-redundant robot. Hyper-redundancy allows the robot to perform auxiliary tasks such as obstacle avoidance and joint limits satisfaction. This feature makes hyper-redundant robots particularly useful for...

In recent years, long-reach cable-driven hyper-redundant manipulators have been spreading into the field of robotics inspection, thanks to their ability to move through narrow spaces and harsh environments. One of the key challenges in achieving precise motions using these robots is compensation for static deformation of the cables. In this...