Real-time shape estimation for continuum robots using vision

Authors:
M. W. Hannan;I. D. Walker
Affiliations:
Agricultural and Biological Engineering, University of Florida, Gainesville, FL 32611 (USA). E-mail: mwhannan@ufl.edu;Electrical and Computer Engineering, Clemson University, Clemson, SC 29634 (USA). E-mail:ianw@ces.clemson.edu
Venue:
Robotica
Year:
2005

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Abstract

This paper describes external camera-based shape estimation for continuum robots. Continuum robots have a continuous backbone made of sections which bend to produce changes of configuration. A major difficulty with continuum robots is the determination of the robot's shape, as there are no discrete joints. This paper presents a method for shape determination based on machine vision. Using an engineered environment and image processing from a high speed camera, shape determination of a continuum robot is achieved. Experimental results showing the effectiveness of the technique on our Elephant's Trunk Manipulator are presented.