Multi-Segment Parallel Continuum Manipulator

Continuum manipulators are a type of robot arm that resemble biological tentacles and trunks. They have a flexible and compliant structure, which may allow them to out-perform rigid-link designs in cluttered workspaces or in environments that contain people. While most continuum manipulators are required to have constant curvature along the length of each segment, a new design known as a parallel continuum manipulator removes this restriction and inherits some properties of parallel rigid-link robots such as greater stability, precision, strength, and maneuverability. Until now, only single segment forms of these manipulators have been created. This project expands this manipulator design concept by creating the first multi-segment parallel continuum manipulator

Evaluating Simulators in FIRST Robotics Competition

This report, in completion of the Inquiry Seminar Project and prepared for For Inspiration and Recognition of Science and Technology (FIRST), Defense Advanced Research Projects Agency (DARPA), and Open Source Robotics Foundation (OSRF), examines simulators used within the FIRST Robotics Competition (FRC) in order to assess the usefulness of simulation tools amongst FRC teams. This is done through researching previous simulators used, and gaining survey data from FRC teams on a new simulator using Gazebo. Data gained through competition demonstrations and a beta of the FRC Gazebo plugin is used to assess the future of Gazebo and simulators in general amongst FIRST