Vision-Based Autonomous Steering of a Miniature Eversion Growing Robot

This letter presents vision-based autonomous navigation of a steerable soft growing robot. Our experimental platform is the previously presented MAMMOBOT, which is a small-diameter eversion growing robot with an embedded steerable catheter. The current manuscript first models the robot using kinemat...

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Veröffentlicht in:	IEEE robotics and automation letters 2023-11, Vol.8 (11), p.7841-7848
Hauptverfasser:	Wu, Zicong, Sadati, S. M. Hadi, Rhode, Kawal, Bergeles, Christos
Format:	Artikel
Sprache:	eng
Schlagworte:	Accuracy Autonomous navigation Bending Catheters Closed loops control and learning for soft robots Controllers Kinematics Mathematical models Mechanics (physics) Misalignment Modeling Modelling Pneumatic systems Robot dynamics Robots Sheaths soft robot applications Steering Tendons Three dimensional printing Tracking Trajectories Vision systems
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