Real-Time Planner for Multi-segment Continuum Manipulator in Dynamic Environments

被引：0

作者：

Ataka, Ahmad ^{[1
]}

Qi, Peng ^{[1
]}

Liu, Hongbin ^{[1
]}

Althoefer, Kaspar ^{[1
]}

机构：

[1] Kings Coll London, Ctr Robot Res CoRe, Dept Informat, London WC2R 2LS, England

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2016年

关键词：

STEERABLE NEEDLES; ROBOT;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a potential-field-based real-time path planning algorithm for a multi-segment continuum manipulator is proposed. This planner is employed to enable a continuum-style manipulator to move autonomously in dynamic environments in real-time. The classic potential field method is modified to make it applicable for a kinematics model based on the constant-curvature assumption. The contribution of this paper lies in the design of a novel potential field in the actuator space satisfying the mechanical constraints of the manipulator. The planning algorithm is tested and validated in real-time simulation for a 3 segments continuum manipulator. Preliminary tests for a tendon-driven single-segment continuum manipulator prototype confirm the performance of the proposed planner.

引用

页码：4080 / 4085

页数：6

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