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Real-time shape estimation for continuum robots using vision

  • M. W. Hannan (a1) and I.D. Walker (a2) (a3)
  • DOI: http://dx.doi.org/10.1017/S0263574704001018
  • Published online: 01 August 2005
Abstract

This paper describes external camera-based shape estimation for continuum robots. Continuum robots have a continuous backbone made of sections which bend to produce changes of configuration. A major difficulty with continuum robots is the determination of the robot's shape, as there are no discrete joints. This paper presents a method for shape determination based on machine vision. Using an engineered environment and image processing from a high speed camera, shape determination of a continuum robot is achieved. Experimental results showing the effectiveness of the technique on our Elephant's Trunk Manipulator are presented.

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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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