Real-time shape estimation for continuum robots using vision

Real-time shape estimation for continuum robots using vision

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 disc...

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Veröffentlicht in:Robotica 2005-09, Vol.23 (5), p.645-651
Hauptverfasser: Hannan, M. W., Walker, I.D.
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Sprache:eng
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Continuum robots
Shape estimation
Vision
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Walker, I.D.
description 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.
doi_str_mv 10.1017/S0263574704001018
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subjects Continuum robots
Shape estimation
Vision
title Real-time shape estimation for continuum robots using vision
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