Contribution to control of redundant robotic manipulators in an environment withobstacles
International Journal of Robotics Research
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
International Journal of Computer Vision - Special issue on image-based servoing
Robot Dynamics and Control
Scaled Euclidean 3D reconstruction based on externally uncalibrated cameras
ISCV '95 Proceedings of the International Symposium on Computer Vision
Theory and experimentation with an 'elephant's trunk' robotic manipulator
Theory and experimentation with an 'elephant's trunk' robotic manipulator
Kinematics and implementation of continuum manipulators
Kinematics and implementation of continuum manipulators
Configuration tracking for continuum manipulators with coupled tendon drive
IEEE Transactions on Robotics
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
International Journal of Robotics Research
Soft robotics: Biological inspiration, state of the art, and future research
Applied Bionics and Biomechanics
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In this paper, we investigate the problem of measuring the shape of a continuum robot manipulator using visual information from a fixed camera. Specifically, we capture the motion of a set of fictitious planes, each formed by four or more feature points, defined at various strategic locations along the body of the robot. Then, utilizing expressions for the robot forward kinematics as well as the decomposition of a homography relating a reference image of the robot to the actual robot image, we obtain the three-dimensional shape information continuously. We then use this information to demonstrate the development of a kinematic controller to regulate the manipulator end-effector to a constant desired position and orientation.