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The videos page contains a number of videos related to the papers below.

Journal

D. C. Rucker, B. A. Jones, and R. J. Webster III, “A Geometrically Exact Model For Externally Loaded Concentric Tube Continuum Robots,” IEEE Transactions on Robotics, vol. 26, no. 5, Oct. 2010, pp.769-780, DOI 10.1109/TRO.2010.2062570 (paper) (cites).

R. J. Webster III and B. A. Jones, “Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review,” International Journal of Robotics Research, DOI 10.1177/0278364910368147, vol. 29, no. 13, Nov. 2010, pp. 1661-1683 (paper) (cites).

S. Neppalli, M. A. Csencsits, B. A. Jones, and I. D. Walker, “Closed-form Inverse Kinematics for Continuum Manipulators”, Advanced Robotics, vol. 23, no. 15, 2009, pp. 2077-2091, DOI 10.1163/016918609X12529299964101 (paper) (cites).

B. A. Jones and I. D. Walker, “Practical kinematics for real-time implementation of continuum robots,” IEEE Transactions on Robotics, vol. 22, no. 6, Dec. 2006, pp. 1087-1099 (paper) (cites).

B. A. Jones and I. D. Walker, “Kinematics for multi-section continuum robots,” IEEE Transactions on Robotics, vol. 22, no. 1, Feb. 2006, pp. 43-55 (paper in color) (as published) (animated figures) (video of kinematics derivation) (corrections) (cites).

W. McMahan, B. A. Jones, and I. D. Walker, “Robotic manipulators inspired by cephalopod limbs,” The Journal of Engineering Design and Innovation, vol. 1P, paper 01P2, Dec., 2005 (paper) (cites).

Conference

D. C. Rucker, B. A. Jones, and R. J. Webster III, “A model for concentric tube continuum robots under applied wrenches,” Proceedings of the IEEE International Conference on Robotics and Automation, May 3-8, Anchorage, Alaska, USA, pp. 1047-1052, DOI 10.1109/ROBOT.2010.5509701 (paper) (cites).

B. A. Jones, R. L. Gray, K. Turlapati, “Three dimensional statics for continuum robots,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 11-15, 2009, St. Louis, MO, USA, pp. 2659-2664 (paper) (presentation) (cites). 

S. Neppalli, M. A. Csencsits, B. A. Jones, and I. D. Walker, “A geometrical approach to inverse kinematics for continuum manipulators,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept. 22-26, 2008, Nice, France, pp. 3565-3570, best paper award finalist (paper) (presentation) (videos) (cites).

S. Neppalli and B. A. Jones, “Design, construction, and analysis of a continuum robot,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2007, San Diego, USA, pp. 1503-1507 (paper) (presentation) (cites).

S. Neppalli, B. A. Jones, W. McMahan, V. Chitrakaran, I. D. Walker, M. Pritts, M. Csencsits, C. Rahn, and M. Grissom, “OctArm - a Soft Robotic Manipulator,” video in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2007, San Diego, CA (abstract) (video).

B. A. Jones and I. D. Walker, “Limiting-case analysis of continuum trunk kinematics,” Proceedings of the IEEE International Conference on Robotics and Automation, Apr. 2007, Rome, Italy, pp. 1363-1368 (paper as published) (corrected paper) (presentation) (cites).

B. A. Jones and I. D. Walker, “Three-dimensional modeling and display of continuum robots,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems, Oct. 2006, Beijing, China, pp. 5872-5877 (corrected paper) (as published) (presentation) (cites).

B. Holbrook, M. Csencsits, W. McMahan, V. Chitrakaran, M. Grissom, M. Pritts, B. A. Jones, C. D. Rahn and I. D. Walker, “Field experiments with the OctArm continuum manipulator,” video 040 in Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems, Oct. 2006, Beijing, China (video).

B. A. Jones, W. McMahan, and I. D. Walker, “Practical kinematics for real-time implementation of continuum robots,” Proceedings of the IEEE International Conference on Robotics and Automation, May 2006, Orlando, Florida, pp. 1840-1847 (paper) (cites).

W. McMahan, B. A. Jones, V. Chitrakaran, M. Csencsits, M. Grissom, M. Pritts, C. D. Rahn and I. D. Walker, “Field trials and testing of the Octarm continuum manipulator,” Proceedings of the IEEE International Conference on Robotics and Automation, May 2006, Orlando, Florida, pp. 2336-2341 (paper) (cites).

B. A. Jones, M. Csencsits, W. McMahan, V. Chitrakaran, M. Grissom, M. Pritts, C. D. Rahn and I. D. Walker, “Grasping, manipulation, and exploration tasks with the OctArm continuum manipulator,” video in Proceedings of the IEEE International Conference on Robotics and Automation, May 2006, Orlando, Florida (video).

M. Csencsits, B. A. Jones, W. McMahan, V. Iyengar, and I. D. Walker, “User interfaces for continuum robot arms,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems, Aug. 2005, Edmonton, Canada, pp. 3011-3018 (paper) (presentation) (related video) (cites).

W. McMahan and B. A. Jones, I. D. Walker, “Design and implementation of a multi-section continuum robot: Air-Octor,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robotics and Systems, Aug. 2005, Edmonton, Canada, pp. 3345-3352 (paper) (video) (cites).

B. A. Jones and I. D. Walker, “A new approach to Jacobian formulation for a class of multi-section continuum robots,” Proceedings of the IEEE International Conference on Robotics and Automation, May 2005, Barcelona, Spain, pp. 3279-3284 (paper) (presentation) (video) (overview) (cites).

B. A. Jones, W. McMahan, and I. D. Walker, “Design and analysis of a novel pneumatic manipulator,” Proceedings of the 3rd IFAC Symposium on Mechatronic Systems, Sept. 6, 2004, Sydney, Australia, pp. 745-750 (paper) (presentation) (video) (cites).

W. McMahan, B. A. Jones, I. D. Walker, V. Chitrakaran, A. Seshadri, and D. Dawson, “Robotic manipulators inspired by cephalopod limbs,” Proceedings of the CDEN Design Conference, July 2004, Montreal, Canada, pp 1-10 (paper) (presentation) (video) (cites).

Thesis / technical reports

Jacob Bowen, "Single camera autonomous navigation for micro aerial vehicles", Master’s Thesis, Mississippi State University, Department of Electrical and Computer Engineering, Dec. 2012 (paper) (presentation).

Charles R. Jones, "The 3D dynamics of the Cosserat rod as applied to continuum robotics," Ph.D. Thesis, Mississippi State University, Department of Electrical and Computer Engineering, May 2011 (paper) (presentation).

Roberto Orellana, “Massively parallel GPU computing of continuum robotic dynamics, Master’s Thesis, Mississippi State University, Department of Electrical and Computer Engineering, Aug. 2011 (paper) (presentation).

Krishna Turlapati, “Modeling and verification of a multi-section continuum robot,” Master’s thesis, Mississippi State University, Department of Electrical and Computer Engineering, May 2011 (paper) (presentation).

Ricky Gray, “Verification of a three-dimensional statics model for continuum robotics and the design and construction of a small continuum robot (SCR),” Master’s thesis, Mississippi State University, Department of Electrical and Computer Engineering, Dec. 2009 (paper) (presentation).

Srinivas Neppalli, “Design, construction, inverse kinematics, and visualization of continuum robots,” Master’s thesis, Mississippi State University, Department of Electrical and Computer Engineering, Dec. 2008 (paper) (presentation).

B. A. Jones, “Kinematics and implementation of continuum manipulators,” Ph.D. Thesis, Clemson University, Department of Electrical Engineering, Aug. 2005 (paper) (presentation) (videos of kinematics and implementation).

B. A. Jones, “Analysis of a Novel Pneumatic Manipulator,” Technical Report, February 2004, Clemson University (paper).

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