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Reactive motion planning for mobile continuum arm in dynamic industrial environment

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

Ahmad Ataka ; Ali Shiva ; Ali Shafti ; Helge Wurdemann ; Kaspar Althoefer

Original languageEnglish
Title of host publicationAdvances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
Subtitle of host publicationProceedings of the 19th International Conference on Clawar 2016
EditorsMohammad Tokhi, Gurvinder Virk
PublisherWorld Scientific Publishing Co. Pte Ltd
Pages178-185
Number of pages8
ISBN (Print)9789813149120
StatePublished - 2016
Event19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016 - London, United Kingdom

Conference

Conference19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
CountryUnited Kingdom
CityLondon
Period12/09/201614/09/2016

Documents

King's Authors

Abstract

Nowadays, rigid-link manipulators have been extensively used in various industrial applications, such as automotive industry and manufacturing operations. Nonetheless, despite of their precise and well-established position control, rigid-link manipulators suffer from their lack of flexibility, especially when operated in cluttered, unknown, dynamic environments, as well as their inherent rigidity which limits their applications in a shared human-robot workspace. In this paper, we report our current progress on mobile continuum manipulators application in dynamic environments. The results show that a continuum arm, mounted on a mobile platform and equipped with a reactive motion planner, is a promising candidate to be used in dynamic industrial environments.

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