Abstract: A system that includes a highly articulated robotic probe having a first mechanism comprising a plurality of first links, and a second mechanism comprising a plurality of second links. The second mechanism is configured to surround at least a portion of the first mechanism. The system includes a feeder mechanism configured to advance and retract the highly articulated robotic probe, and a computing device in communication with the feeder mechanism. The computing device is configured to receive two-axis data from an input device, translate the two-axis position data into three-axis coordinate system data, and adjust a position of one or more second mechanism motors based on the three-axis coordinate system data.
Type:
Grant
Filed:
March 9, 2015
Date of Patent:
March 14, 2017
Assignees:
Carnegie Mellon University, University of Pittsburgh—Of the Commonwealth of Higher Education
Inventors:
Howard M. Choset, Alon Wolf, Marco A. Zenati