Control of a Snake-Like Robot in an Elastically Deformable Channel
Hyper-redundant (HR) (snake-like) robotic manipulators are particularly adept at navigating narrow, convoluted paths, but have traditionally been difficult to model and control. In this paper, we outline a nonmodel-based control methodology, which allows a five-joint HR robot to traverse a foam chan...
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| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2008-04, Vol.13 (2), p.219-227 |
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| container_title | IEEE/ASME transactions on mechatronics |
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| creator | Andruska, A.M. Peterson, K.S. |
| description | Hyper-redundant (HR) (snake-like) robotic manipulators are particularly adept at navigating narrow, convoluted paths, but have traditionally been difficult to model and control. In this paper, we outline a nonmodel-based control methodology, which allows a five-joint HR robot to traverse a foam channel of unknown curvature using the robot actuators as sensors. The robot is fitted to a waveform which is demonstrated to move the robot along a deformable channel. The waveform parameters are variable, and are adjusted by the developed controller such that the robot is able to navigate unknown curving paths. This robot is demonstrated to be able to navigate a constricted, compliant channel in which the robot is in continuous contact with its surroundings. It is intended that this technology be applied to a multilink actuated endoscope. |
| doi_str_mv | 10.1109/TMECH.2008.918541 |
| format | Article |
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In this paper, we outline a nonmodel-based control methodology, which allows a five-joint HR robot to traverse a foam channel of unknown curvature using the robot actuators as sensors. The robot is fitted to a waveform which is demonstrated to move the robot along a deformable channel. The waveform parameters are variable, and are adjusted by the developed controller such that the robot is able to navigate unknown curving paths. This robot is demonstrated to be able to navigate a constricted, compliant channel in which the robot is in continuous contact with its surroundings. It is intended that this technology be applied to a multilink actuated endoscope.</description><subject>Actuators</subject><subject>Biologically inspired methods</subject><subject>Channels</subject><subject>Colon</subject><subject>control systems</subject><subject>Curvature</subject><subject>Deformable models</subject><subject>Deformation</subject><subject>Diseases</subject><subject>Endoscopes</subject><subject>Foams</subject><subject>Formability</subject><subject>Friction</subject><subject>Manipulators</subject><subject>Mechatronics</subject><subject>Mobile robots</subject><subject>Navigation</subject><subject>Robot sensing systems</subject><subject>robotics</subject><subject>Robots</subject><subject>snake-like robot</subject><subject>Waveforms</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2008</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNp9kD1PwzAQhi0EEqXwAxCLxQBTis8fsT1CKB9SERIUic1yEkekdeMSp0P_PSlBDAxMd8Pzvqd7EDoFMgEg-mr-NM0eJpQQNdGgBIc9NALNISHA3_f7nSiWcM7EITqKcUEI4UBghG6y0HRt8DhU2OLXxi5dMquXDr-EPHS4brBt8NTb2NWF9X6Lb10V2pXNvcPZh20a54_RQWV9dCc_c4ze7qbz7CGZPd8_ZtezpGBCdAmUPHda5SmrUl1VubY5l5RASstSOAGKFDKXBWWlLFMhKc0FBVbayhKqLSVsjC6H3nUbPjcudmZVx8J5bxsXNtEoKYju-0RPXvxLMs6llin04PkfcBE2bdN_YVRKqVCMyx6CASraEGPrKrNu65VttwaI2ck33_LNTr4Z5PeZsyFTO-d-ec6V7u-yL6Hnfgw</recordid><startdate>20080401</startdate><enddate>20080401</enddate><creator>Andruska, A.M.</creator><creator>Peterson, K.S.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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In this paper, we outline a nonmodel-based control methodology, which allows a five-joint HR robot to traverse a foam channel of unknown curvature using the robot actuators as sensors. The robot is fitted to a waveform which is demonstrated to move the robot along a deformable channel. The waveform parameters are variable, and are adjusted by the developed controller such that the robot is able to navigate unknown curving paths. This robot is demonstrated to be able to navigate a constricted, compliant channel in which the robot is in continuous contact with its surroundings. It is intended that this technology be applied to a multilink actuated endoscope.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TMECH.2008.918541</doi><tpages>9</tpages></addata></record> |
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| ispartof | IEEE/ASME transactions on mechatronics, 2008-04, Vol.13 (2), p.219-227 |
| issn | 1083-4435 1941-014X |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Actuators Biologically inspired methods Channels Colon control systems Curvature Deformable models Deformation Diseases Endoscopes Foams Formability Friction Manipulators Mechatronics Mobile robots Navigation Robot sensing systems robotics Robots snake-like robot Waveforms |
| title | Control of a Snake-Like Robot in an Elastically Deformable Channel |
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