近似区分定曲率等価モデルと連続体ロボットの形状推定への応用
Approximate Piecewise Constant Curvature Equivalent Model and Their Application to Continuum Robot Configuration Estimation
連続体ロボットの実際の運動を近似区分定曲率(APCC)として捉え、剛体リンクで置き換えた等価モデルAPCC 2L-5Rを提案し、各セグメント先端の単眼カメラで形状自己推定を実現した論文。
著者: Hao Cheng, Houde Liu, Xueqian Wang, Bin Liang
分類: cs.RO
原文アブストラクト
The continuum robot has attracted more attention for its flexibility. Continuum robot kinematics models are the basis for further perception, planning, and control. The design and research of continuum robots are usually based on the assumption of piecewise constant curvature (PCC). However, due to the influence of friction, etc., the actual motion of the continuum robot is approximate piecewise constant curvature (APCC). To address this, we present a kinematic equivalent model for continuum robots, i.e. APCC 2L-5R. Using classical rigid linkages to replace the original model in kinematic, the APCC 2L-5R model effectively reduces complexity and improves numerical stability. Furthermore, based on the model, the configuration self-estimation of the continuum robot is realized by monocular cameras installed at the end of each approximate constant curvature segment. The potential of APCC 2L-5R in perception, planning, and control of continuum robots remains to be explored.
