姿勢から形状へ：区分多項式曲率モデルに基づく連続体ロボットの形状センシング
Orientation to Pose: Continuum Robots Shape Sensing Based on Piecewise Polynomial Curvature Model
連続体ロボットの任意位置における姿勢と位置の結合関係を区分多項式曲率モデルで橋渡しし、IMUなどの姿勢センサのみで形状を推定する汎用的なリアルタイム形状センシング手法を提案した。複数種類の実機実験で精度を検証している。
著者: Hao Cheng, Hongji Shang, Bin Lan, Houde Liu, Xueqian Wang, Bin Liang
分類: cs.RO
原文アブストラクト
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter proposed a novel general real-time shape sensing framework of continuum robots based on the piecewise polynomial curvature (PPC) kinematics model. We illustrate the coupling between orientation and position at any given location of the continuum robots. Further, the coupling relation could be bridged by the PPC kinematics. Therefore, we propose to estimate the shape of continuum robots through orientation estimation, using the off-the-shelf orientation sensors, e.g., IMUs, mounted on certain locations. The approach gives a valuable framework to the shape sensing of continuum robots, universality, accuracy and convenience. The accuracy of the general approach is verified in the experiments of multi-type physical prototypes.
