Abstract
Taking inspiration from the properties of magnetic fields, we propose a reactive navigation method for soft continuum manipulators operating in unknown environments. The proposed navigation method outperforms previous works since it is able to successfully achieve collision-free movements towards the goal in environments with convex obstacles without relying on a priori information of the obstacles' shapes and locations. Simulations for the kinematic model of a soft continuum manipulator and preliminary experiments with a 2-segments soft continuum arm are performed, showing promising results and the potential for our approach to be applied widely.
Original language | English |
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Title of host publication | Proceedings - IEEE/RSJ International Conference on Intelligent Robots and Systems |
Publisher | IEEE |
Publication status | Accepted/In press - 29 Jun 2018 |