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Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments

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

Ahmad Ataka, Peng Qi, Ali Shiva, Ali Shafti, Helge Wurdemann, Hongbin Liu, Kaspar Althoefer

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2827-2832
Number of pages6
Volume2016-November
ISBN (Print)9781509037629
DOIs
Publication statusPublished - 28 Nov 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period9/10/201614/10/2016

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King's Authors

Abstract

In this paper, we present a novel pose estimation and obstacle avoidance approach for tendon-driven multisegment continuum manipulators moving in dynamic environments. A novel multi-stage implementation of an Extended Kaiman Filter is used to estimate the pose of every point along the manipulator's body using only the position information of each segment tip. Combined with a potential field, the overall algorithm will guide the manipulator tip to a desired target location and, at the same time, keep the manipulator body safe from collisions with obstacles. The results show that the approach works weil in a real-time simulation environment that contains moving obstacles in the vicinity of the manipulator.

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