King's College London

Research portal

Magnetic-field-inspired Navigation for Soft Continuum Manipulator

Research output: Chapter in Book/Report/Conference proceedingConference paper

Original languageEnglish
Title of host publicationProceedings - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Publication statusAccepted/In press - 29 Jun 2018

Documents

  • Magnetic-field-inspired Navigation for Soft_ATAKA_Accepted29June2018_GREEN AAM

    iros2018final.pdf, 2.06 MB, application/pdf

    2/08/2018

    Accepted author manuscript

    © 2018 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.

King's Authors

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.

View graph of relations

© 2018 King's College London | Strand | London WC2R 2LS | England | United Kingdom | Tel +44 (0)20 7836 5454