Real-time shape estimation for continuum robots using vision

被引：55
|
作者：
Hannan, MW
Walker, ID [1 ]
机构：
[1] Clemson Univ, Clemson, SC 29634 USA
[2] Univ Florida, Gainesville, FL 32611 USA
来源：
ROBOTICA | 2005年 / 23卷
关键词：
continuum robots; vision; shape estimation;
D O I：
10.1017/S0263574704001018
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：645 / 651
页数：7
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