Ernar Amanov

2 accepted papers

2017

On the merits of helical tendon routing in continuum robots

Julia Starke, Ernar Amanov, M. Taha Chikhaoui, Jessica Burgner-Kahrs

IROS 2017poster

Tendon-driven continuum robots possess versatile application capabilities and have a robust design. The actuation of such robots with non-straight tendons that wrap around the backbone, described by a variable function, offers a lot of untapped potentials. While it has been shown that these continuu…

Cited by 70 Source ↗Scholar ↗

2017

Toward improving path following motion: Hybrid continuum robot design

Ernar Amanov, Josephine Granna, Jessica Burgner-Kahrs

ICRA 2017poster

Continuum manipulators possess the ability to travel on nonlinear paths and avoid obstacles in confined environments. A variety of designs were proposed for several applications, such as minimally invasive surgery or inspections and maintenance in hazardous spaces. While hyperredundant robots can fo…

Cited by 38 Source ↗Scholar ↗