Abstract
In this paper, a potential-field-based real-time path planning algorithm for a multi-segment continuum manipulator is proposed. This planner is employed to enable a continuum-style manipulator to move autonomously in dynamic environments in real-time. The classic potential field method is modified to make it applicable for a kinematics model based on the constant-curvature assumption. The contribution of this paper lies in the design of a novel potential field in the actuator space satisfying the mechanical constraints of the manipulator. The planning algorithm is tested and validated in real-time simulation for a 3 segments continuum manipulator. Preliminary tests for a tendon-driven single-segment continuum manipulator prototype confirm the performance of the proposed planner.
| Original language | English |
|---|---|
| Title of host publication | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 4080-4085 |
| Number of pages | 6 |
| Volume | 2016-June |
| ISBN (Electronic) | 9781467380263 |
| DOIs | |
| Publication status | Published - 8 Jun 2016 |
| Event | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden Duration: 16 May 2016 → 21 May 2016 |
Conference
| Conference | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 |
|---|---|
| Country/Territory | Sweden |
| City | Stockholm |
| Period | 16/05/2016 → 21/05/2016 |
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