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Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

Ataka Rizqi, Peng Qi, Ali Shiva, Ali Shafti, Helge Wurdemann, Prokar Dasgupta, Kaspar Althoefer

Original languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE Computer Society Press
Number of pages6
ISBN (Print)9781509032877
Published28 Jul 2016
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
Duration: 26 Jun 201629 Jun 2016


Conference6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016


King's Authors


The flexibility and dexterity of continuum manipulators in comparison with rigid-link counterparts have become main features behind their recent popularity. Despite of that, the problem of navigation and motion planning for continuum manipulators turns out to be demanding tasks due to the complexity of their flexible structure modelling which in turns complicates the pose estimation. In this paper, we present a real-Time obstacle avoidance algorithm for tendon-driven continuum-style manipulator in dynamic environments. The algorithm is equipped with a non-linear observer based on an Extended Kalman Filter to estimate the pose of every point along the manipulator's body. The overall algorithm works well for a model of a single-segment continuum manipulator in a real-Time simulation environment with moving obstacles in the workspace of manipulators.

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