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Grasping manipulation and exploration tasks with the OctArm continuum manipulator

In the biological world, grasping, manipulation, and exploration tasks are frequently performed by tongues, trunks, and tentacles. Continuum robots such as the OctArm seek to mimic this wide range of abilities, allowing use in unstructured environments. Although a large variety of continuum robots have been developed as both commercial products and as research endeavors, video studies which concentrate on grasping, manipulation, and exploration tasks are rare. This video addresses this lack by illustrating the types of tasks for which continuum manipulators are uniquely suited. A series of outdoor and laboratory tests reveal the wide variety of novel grasping, manipulation, and exploration tasks which the OctArm continuum trunk can perform. These abilities demonstrate the capabilities of continuum manipulators and suggest further research to extend their abilities.


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