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Towards Safer Obstacle Avoidance for Continuum-Style Manipulator in Dynamic Environments

Ataka, A; Qi, P; Shiva, A; Shafti, A; Wurdemann, HA; Althoefer, K; (2016) Towards Safer Obstacle Avoidance for Continuum-Style Manipulator in Dynamic Environments. In: Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016). (pp. pp. 600-605). IEEE: Singapore. Green open access

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Abstract

The flexibility and dexterity of continuum manipulators in comparison with rigid-link counterparts have become main features behind their recent popularity. Despite of that, the problem of navigation and motion planning for continuum manipulators turns out to be demanding tasks due to the complexity of their flexible structure modelling which in turns complicates the pose estimation. In this paper, we present a real-time obstacle avoidance algorithm for tendondriven continuum-style manipulator in dynamic environments. The algorithm is equipped with a non-linear observer based on an Extended Kalman Filter to estimate the pose of every point along the manipulator’s body. A local observability analysis for the kinematic model of the manipulator is also presented. The overall algorithm works well for a model of a single-segment continuum manipulator in a real-time simulation environment with moving obstacles in the workspace of manipulators, able to avoid the whole body of manipulators from collision.

Type: Proceedings paper
Title: Towards Safer Obstacle Avoidance for Continuum-Style Manipulator in Dynamic Environments
Event: 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016)
ISBN-13: 978-1-5090-3287-7
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/BIOROB.2016.7523691
Publisher version: http://dx.doi.org/10.1109/BIOROB.2016.7523691
Language: English
Additional information: Copyright © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/1485904
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