Real-time adaptive kinematic model estimation of concentric tube robots

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Real-time adaptive kinematic model estimation of concentric tube robots

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Title: Real-time adaptive kinematic model estimation of concentric tube robots
Author: Chunwoo Kim, undefined; Ryu, Seok Chang; Dupont, Pierre E

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Citation: Kim, Chunwoo, Seok Chang Ryu, and Pierre E. Dupont. 2015. "Real-time adaptive kinematic model estimation of concentric tube robots." In Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3214-3219.
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Abstract: Kinematic models of concentric tube robots have matured from considering only tube bending to considering tube twisting as well as external loading. While these models have been demonstrated to approximate actual behavior, modeling error can be significant for medical applications that often call for positioning accuracy of 1–2mm. As an alternative to moving to more complex models, this paper proposes using sensing to adaptively update model parameters during robot operation. Advantages of this method are that the model is constantly tuning itself to provide high accuracy in the region of the workspace where it is currently operating. It also adapts automatically to changes in robot shape and compliance associated with the insertion and removal of tools through its lumen. As an initial exploration of this approach, a recursive on-line estimator is proposed and evaluated experimentally.
Published Version: doi:10.1109/IROS.2015.7353823
Other Sources: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4860649/
Terms of Use: This article is made available under the terms and conditions applicable to Other Posted Material, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#LAA
Citable link to this page: http://nrs.harvard.edu/urn-3:HUL.InstRepos:33884328
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