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

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

Standard

Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. / Rizqi, Ataka; Qi, Peng; Shiva, Ali; Shafti, Ali; Wurdemann, Helge; Dasgupta, Prokar; Althoefer, Kaspar.

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Vol. 2016-July IEEE Computer Society Press, 2016. p. 600-605 7523691.

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

Harvard

Rizqi, A, Qi, P, Shiva, A, Shafti, A, Wurdemann, H, Dasgupta, P & Althoefer, K 2016, Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. in Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. vol. 2016-July, 7523691, IEEE Computer Society Press, pp. 600-605, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, Singapore, 26/06/2016. https://doi.org/10.1109/BIOROB.2016.7523691

APA

Rizqi, A., Qi, P., Shiva, A., Shafti, A., Wurdemann, H., Dasgupta, P., & Althoefer, K. (2016). Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (Vol. 2016-July, pp. 600-605). [7523691] IEEE Computer Society Press. https://doi.org/10.1109/BIOROB.2016.7523691

Vancouver

Rizqi A, Qi P, Shiva A, Shafti A, Wurdemann H, Dasgupta P et al. Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Vol. 2016-July. IEEE Computer Society Press. 2016. p. 600-605. 7523691 https://doi.org/10.1109/BIOROB.2016.7523691

Author

Rizqi, Ataka ; Qi, Peng ; Shiva, Ali ; Shafti, Ali ; Wurdemann, Helge ; Dasgupta, Prokar ; Althoefer, Kaspar. / Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Vol. 2016-July IEEE Computer Society Press, 2016. pp. 600-605

Bibtex Download

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title = "Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments",
abstract = "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.",
author = "Ataka Rizqi and Peng Qi and Ali Shiva and Ali Shafti and Helge Wurdemann and Prokar Dasgupta and Kaspar Althoefer",
year = "2016",
month = "7",
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doi = "10.1109/BIOROB.2016.7523691",
language = "English",
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pages = "600--605",
booktitle = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",
publisher = "IEEE Computer Society Press",

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RIS (suitable for import to EndNote) Download

TY - CHAP

T1 - Towards safer obstacle avoidance for continuum-style manipulator in dynamic environments

AU - Rizqi, Ataka

AU - Qi, Peng

AU - Shiva, Ali

AU - Shafti, Ali

AU - Wurdemann, Helge

AU - Dasgupta, Prokar

AU - Althoefer, Kaspar

PY - 2016/7/28

Y1 - 2016/7/28

N2 - 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.

AB - 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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DO - 10.1109/BIOROB.2016.7523691

M3 - Conference paper

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SN - 9781509032877

VL - 2016-July

SP - 600

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BT - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics

PB - IEEE Computer Society Press

ER -

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