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Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments

Ataka, A; Qi, P; Shiva, A; Shafti, A; Wurdemann, H; Liu, H; Althoefer, K; (2016) Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments. In: Proceedings of 2016 IEEE/RSJ: International Conference on Intelligent Robots and Systems (IROS). (pp. pp. 2827-2832). IEEE: Deajeon, South Korea. Green open access

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Abstract

In this paper, we present a novel pose estimation and obstacle avoidance approach for tendon-driven multi-segment continuum manipulators moving in dynamic environments. A novel multi-stage implementation of an Extended Kalman Filter is used to estimate the pose of every point along the manipulator's body using only the position information of each segment tip. Combined with a potential field, the overall algorithm will guide the manipulator tip to a desired target location and, at the same time, keep the manipulator body safe from collisions with obstacles. The results show that the approach works well in a real-time simulation environment that contains moving obstacles in the vicinity of the manipulator.

Type: Proceedings paper
Title: Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments
Event: 2016 IEEE/RSJ: International Conference on Intelligent Robots and Systems (IROS)
ISBN-13: 9781509037629
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/IROS.2016.7759438
Publisher version: https://doi.org/10.1109/IROS.2016.7759438
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.
Keywords: Manipulator dynamics, Collision avoidance, Pose estimation, Jacobian matrices, Tendons
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/1518015
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