Abstract
The rigid-link manipulators have been extensively employed in industrial setting nowadays. However, problem arises when such manipulators are assigned to work alongside human or employed in cluttered, complex, and tight environment. Hence, continuum manipulator, with its inherent compliant and flexibility, is preferable in this aspect. In this paper, we present our recent work presenting a real-time pose estimation and obstacle avoidance for continuum manipulator in dynamic environments. The approach is shown to work in a model of both single-segment and multi-segment continuum manipulator and also in a real tendon-driven single-segment continuum manipulator in dynamic environment, and thus, suitable to be used in human environments.
Original language | English |
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Title of host publication | The 26th International Conference on Automated Planning and Scheduling |
Subtitle of host publication | Proceedings of the 1st Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interactions |
Editors | Ali Shafti, Andrea Orlandini |
Pages | 17 |
Number of pages | 23 |
Publication status | Published - 13 Jun 2016 |
Event | 26th International Conference on Automated Planning and Scheduling ICAPS 2016 - London, London, United Kingdom Duration: 12 Jun 2016 → 17 Jun 2016 http://icaps16.icaps-conference.org/ |
Conference
Conference | 26th International Conference on Automated Planning and Scheduling ICAPS 2016 |
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Abbreviated title | ICAPS 2016 |
Country/Territory | United Kingdom |
City | London |
Period | 12/06/2016 → 17/06/2016 |
Internet address |