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Real-Time Obstacle Avoidance for Continuum Manipulator: Towards Safer Application in Human Environments

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

Original languageEnglish
Title of host publicationThe 26th International Conference on Automated Planning and Scheduling
Subtitle of host publicationProceedings of the 1st Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interactions
EditorsAli Shafti, Andrea Orlandini
Pages17
Number of pages23
Publication statusPublished - 13 Jun 2016
Event26th International Conference on Automated Planning and Scheduling ICAPS 2016 - London, London, United Kingdom
Duration: 12 Jun 201617 Jun 2016
http://icaps16.icaps-conference.org/

Conference

Conference26th International Conference on Automated Planning and Scheduling ICAPS 2016
Abbreviated titleICAPS 2016
CountryUnited Kingdom
CityLondon
Period12/06/201617/06/2016
Internet address

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King's Authors

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.

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