Sensor-based guidance control of a continuum robot for a semi-autonomous colonoscopy
Robotics and Autonomous Systems
On the Control of a Multi-robot System for the Manipulation of an Elastic Hose
IWINAC '09 Proceedings of the 3rd International Work-Conference on The Interplay Between Natural and Artificial Computation: Part II: Bioinspired Applications in Artificial and Natural Computation
Mechanics of precurved-tube continuum robots
IEEE Transactions on Robotics
Configuration tracking for continuum manipulators with coupled tendon drive
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Three dimensional statics for continuum robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A model-based sliding mode controller for extensible continuum robots
ISPRA'10 Proceedings of the 9th WSEAS international conference on Signal processing, robotics and automation
A guaranteed approach for kinematic analysis of continuum robot based catheter
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Design of a novel snake-like robotic colonoscope
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
International Journal of Robotics Research
Dynamic modeling and control of an octopus inspired multiple continuum arm robot
Computers & Mathematics with Applications
Biologically inspired tree-climbing robot with continuum maneuvering mechanism
Journal of Field Robotics
Motion planning for tree climbing with inchworm-like robots
Journal of Field Robotics
A geometric approach for inverse kinematics of a 4-link redundant In-Vivo robot for biopsy
Robotics and Autonomous Systems
Soft robotics: Biological inspiration, state of the art, and future research
Applied Bionics and Biomechanics
Hi-index | 0.00 |
We introduce a new method for synthesizing kinematic relationships for a general class of continuous backbone, or continuum , robots. The resulting kinematics enable real-time task and shape control by relating workspace (Cartesian) coordinates to actuator inputs, such as tendon lengths or pneumatic pressures, via robot shape coordinates. This novel approach, which carefully considers physical manipulator constraints, avoids artifacts of simplifying assumptions associated with previous approaches, such as the need to fit the resulting solutions to the physical robot. It is applicable to a wide class of existing continuum robots and models extension, as well as bending, of individual sections. In addition, this approach produces correct results for orientation, in contrast to some previously published approaches. Results of real-time implementations on two types of spatial multisection continuum manipulators are reported.