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Real-time shape estimation for continuum robots using vision

Published online by Cambridge University Press:  23 August 2005

M. W. Hannan  and
I.D. Walker
M. W. Hannan
Affiliation:
Agricultural and Biological Engineering, University of Florida, Gainesville, FL 32611 (USA). E-mail: mwhannan@ufl.edu
I.D. Walker
Affiliation:
Electrical and Computer Engineering, Clemson University, Clemson, SC 29634 (USA). E-mail:ianw@ces.clemson.edu Corresponding author: I. D. Walker
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Abstract

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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.

Keywords

Continuum robotsVisionShape estimation

Information

Type
Research Article
Information
Robotica , Volume 23 , Issue 5 , September 2005 , pp. 645 - 651
Copyright
© 2005 Cambridge University Press